22 #ifndef KDL_CHAIN_FKSOLVER_HPP
23 #define KDL_CHAIN_FKSOLVER_HPP
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.
virtual ~ChainFkSolverAcc()=0
virtual int JntToCart(const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
virtual ~ChainFkSolverPos()
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
virtual ~ChainFkSolverVel()
virtual int JntToCart(const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)=0
represents a frame transformation in 3D space (rotation + translation)
static const pxr::TfToken out("out", pxr::TfToken::Immortal)