KDL::ChainFkSolverPos Class Reference
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
#include <chainfksolver.hpp>
Inheritance diagram for KDL::ChainFkSolverPos:
Public Member Functions | |
| virtual int | JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0 |
| Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose. | |
| virtual | ~ChainFkSolverPos () |
Detailed Description
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition at line 42 of file chainfksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::ChainFkSolverPos::~ChainFkSolverPos | ( | ) | [inline, virtual] |
Definition at line 55 of file chainfksolver.hpp.
Member Function Documentation
| virtual int KDL::ChainFkSolverPos::JntToCart | ( | const JntArray & | q_in, | |
| Frame & | p_out, | |||
| int | segmentNr = -1 | |||
| ) | [pure 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
Implemented in KDL::ChainFkSolverPos_recursive.
Referenced by KDL::ChainIkSolverPos_NR_JL::CartToJnt(), and KDL::ChainIkSolverPos_NR::CartToJnt().
The documentation for this class was generated from the following file:
