KDL::ChainFkSolverPos_recursive Class Reference
Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain). More...
#include <chainfksolverpos_recursive.hpp>
Public Member Functions | |
| ChainFkSolverPos_recursive (const Chain &chain) | |
| virtual int | JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1) |
| Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose. | |
| ~ChainFkSolverPos_recursive () | |
Detailed Description
Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).
Definition at line 36 of file chainfksolverpos_recursive.hpp.
Constructor & Destructor Documentation
| KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive | ( | const Chain & | chain | ) |
Definition at line 28 of file chainfksolverpos_recursive.cpp.
| KDL::ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive | ( | ) |
Definition at line 59 of file chainfksolverpos_recursive.cpp.
Member Function Documentation
| int KDL::ChainFkSolverPos_recursive::JntToCart | ( | const JntArray & | q_in, | |
| Frame & | p_out, | |||
| int | segmentNr = -1 | |||
| ) | [virtual] |
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
- Parameters:
-
q_in input joint coordinates p_out reference to output cartesian pose segmentNr default to -1
- Returns:
- if < 0 something went wrong
Implements KDL::ChainFkSolverPos.
Definition at line 33 of file chainfksolverpos_recursive.cpp.
References KDL::Segment::getJoint(), KDL::Chain::getNrOfJoints(), KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), KDL::Joint::getType(), KDL::Frame::Identity(), KDL::Joint::None, KDL::Segment::pose(), and KDL::JntArray::rows().
Referenced by Robot::Robot6Axis::calcTcp(), and Robot::RobotAlgos::Test().
The documentation for this class was generated from the following files:
