KDL::ChainFkSolverAcc Class Reference

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...

#include <chainfksolver.hpp>

List of all members.

Public Member Functions
virtual int	JntToCart (const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0
	Calculate forward position, velocity and accelaration kinematics, from joint coordinates to cartesian coordinates.
virtual	~ChainFkSolverAcc ()=0

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Detailed Description

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.

Definition at line 88 of file chainfksolver.hpp.

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Constructor & Destructor Documentation

virtual KDL::ChainFkSolverAcc::~ChainFkSolverAcc

(

)

[pure virtual]

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Member Function Documentation

virtual int KDL::ChainFkSolverAcc::JntToCart	(	const JntArrayAcc &	q_in,
		FrameAcc &	out,
		int	segmentNr = -1
	)			[pure virtual]

Calculate forward position, velocity and accelaration kinematics, from joint coordinates to cartesian coordinates.

Parameters:

	q_in	input joint coordinates (position, velocity and acceleration
	out	output cartesian coordinates (position, velocity and acceleration
	segmentNr	default to -1

Returns:

if < 0 something went wrong

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The documentation for this class was generated from the following file:

• chainfksolver.hpp