KDL::ChainFkSolverVel_recursive Class Reference
Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain). More...
#include <chainfksolvervel_recursive.hpp>
Public Member Functions | |
| ChainFkSolverVel_recursive (const Chain &chain) | |
| virtual int | JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1) |
| Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates. | |
| ~ChainFkSolverVel_recursive () | |
Detailed Description
Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).
Definition at line 37 of file chainfksolvervel_recursive.hpp.
Constructor & Destructor Documentation
| KDL::ChainFkSolverVel_recursive::ChainFkSolverVel_recursive | ( | const Chain & | chain | ) |
Definition at line 27 of file chainfksolvervel_recursive.cpp.
| KDL::ChainFkSolverVel_recursive::~ChainFkSolverVel_recursive | ( | ) |
Definition at line 32 of file chainfksolvervel_recursive.cpp.
Member Function Documentation
| int KDL::ChainFkSolverVel_recursive::JntToCart | ( | const JntArrayVel & | q_in, | |
| FrameVel & | out, | |||
| int | segmentNr = -1 | |||
| ) | [virtual] |
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
- Parameters:
-
q_in input joint coordinates (position and velocity) out output cartesian coordinates (position and velocity) segmentNr default to -1
- Returns:
- if < 0 something went wrong
Implements KDL::ChainFkSolverVel.
Definition at line 36 of file chainfksolvervel_recursive.cpp.
References KDL::Segment::getJoint(), KDL::Chain::getNrOfJoints(), KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), KDL::Joint::getType(), KDL::FrameVel::Identity(), KDL::Joint::None, KDL::Segment::pose(), KDL::JntArrayVel::q, KDL::JntArrayVel::qdot, KDL::JntArray::rows(), and KDL::Segment::twist().
The documentation for this class was generated from the following files:
