KDL::ChainFkSolverPos_recursive Class Reference

#include <chainfksolverpos_recursive.hpp>

Inheritance diagram for KDL::ChainFkSolverPos_recursive:

List of all members.

Public Member Functions
	ChainFkSolverPos_recursive (const Chain &chain)
	~ChainFkSolverPos_recursive ()
virtual int	JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1)

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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 chain (KDL::Chain).

Definition at line 36 of file chainfksolverpos_recursive.hpp.

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Constructor & Destructor Documentation

KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive

(

const Chain &

chain

)

Definition at line 31 of file chainfksolverpos_recursive.cpp.

KDL::ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive

(

)

Definition at line 59 of file chainfksolverpos_recursive.cpp.

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Member Function Documentation

int KDL::ChainFkSolverPos_recursive::JntToCart	(	const JntArray &	q_in,
		Frame &	p_out,
		int	segmentNr = -1
	)		[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

Returns:

if < 0 something went wrong

Implements KDL::ChainFkSolverPos.

Definition at line 36 of file chainfksolverpos_recursive.cpp.

References KDL::Segment::getJoint(), KDL::Joint::getNDof(), KDL::Chain::getNrOfJoints(), KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), i, KDL::Frame::Identity(), KDL::Segment::pose(), and KDL::JntArray::rows().

Referenced by iTaSC::Distance::updateJacobian().

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

• chainfksolverpos_recursive.hpp
• chainfksolverpos_recursive.cpp