KDL::TreeFkSolverPos Class Reference
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
#include <treefksolver.hpp>
Inheritance diagram for KDL::TreeFkSolverPos:
Public Member Functions | |
| virtual int | JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName)=0 |
| Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose. | |
| virtual | ~TreeFkSolverPos () |
Detailed Description
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree.
Definition at line 45 of file treefksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::TreeFkSolverPos::~TreeFkSolverPos | ( | ) | [inline, virtual] |
Definition at line 58 of file treefksolver.hpp.
Member Function Documentation
| virtual int KDL::TreeFkSolverPos::JntToCart | ( | const JntArray & | q_in, | |
| Frame & | p_out, | |||
| std::string | segmentName | |||
| ) | [pure virtual] |
Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.
- Parameters:
-
q_in input joint coordinates p_out reference to output cartesian pose segmentName
- Returns:
- if < 0 something went wrong
Implemented in KDL::TreeFkSolverPos_recursive.
Referenced by KDL::TreeIkSolverPos_NR_JL::CartToJnt().
The documentation for this class was generated from the following file:
