KDL::TreeFkSolverPos_recursive Class Reference

#include <treefksolverpos_recursive.hpp>

Inheritance diagram for KDL::TreeFkSolverPos_recursive:

List of all members.

Public Member Functions
	TreeFkSolverPos_recursive (const Tree &tree)
	~TreeFkSolverPos_recursive ()
virtual int	JntToCart (const JntArray &q_in, Frame &p_out, const std::string &segmentName, const std::string &baseName)

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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.

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Constructor & Destructor Documentation

KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive

(

const Tree &

tree

)

Definition at line 31 of file treefksolverpos_recursive.cpp.

KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive

(

)

Definition at line 68 of file treefksolverpos_recursive.cpp.

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Member Function Documentation

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

Implements KDL::TreeFkSolverPos.

Definition at line 36 of file treefksolverpos_recursive.cpp.

References KDL::Tree::getNrOfJoints(), KDL::Tree::getSegment(), KDL::Tree::getSegments(), and KDL::JntArray::rows().

Referenced by iTaSC::getRelativeFrame().

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

• treefksolverpos_recursive.hpp
• treefksolverpos_recursive.cpp