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:

List of all members.

Public Member Functions
virtual int	JntToCart (const JntArray &q_in, Frame &p_out, const std::string &segmentName, const std::string &baseName)=0
virtual	~TreeFkSolverPos ()

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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.

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Constructor & Destructor Documentation

virtual KDL::TreeFkSolverPos::~TreeFkSolverPos

(

)

[inline, virtual]

Definition at line 57 of file treefksolver.hpp.

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Member Function Documentation

virtual int KDL::TreeFkSolverPos::JntToCart	(	const JntArray &	q_in,
		Frame &	p_out,
		const std::string &	segmentName,
		const std::string &	baseName
	)		[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

Returns:

if < 0 something went wrong

Implemented in KDL::TreeFkSolverPos_recursive.

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

• treefksolver.hpp