KDL::TreeFkSolverPos_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 tree (KDL::Tree). More...
#include <treefksolverpos_recursive.hpp>
Public Member Functions | |
| virtual int | JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName) |
| Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose. | |
| TreeFkSolverPos_recursive (const Tree &tree) | |
| ~TreeFkSolverPos_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 tree (KDL::Tree).
Definition at line 37 of file treefksolverpos_recursive.hpp.
Constructor & Destructor Documentation
| KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive | ( | const Tree & | tree | ) |
Definition at line 28 of file treefksolverpos_recursive.cpp.
| KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive | ( | ) |
Definition at line 65 of file treefksolverpos_recursive.cpp.
Member Function Documentation
| int KDL::TreeFkSolverPos_recursive::JntToCart | ( | const JntArray & | q_in, | |
| Frame & | p_out, | |||
| std::string | segmentName | |||
| ) | [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
Implements KDL::TreeFkSolverPos.
Definition at line 33 of file treefksolverpos_recursive.cpp.
References KDL::Tree::getNrOfJoints(), KDL::Tree::getSegment(), KDL::Tree::getSegments(), and KDL::JntArray::rows().
The documentation for this class was generated from the following files:
