Blender  V3.3
Public Member Functions | List of all members
KDL::TreeFkSolverPos_recursive Class Reference

#include <treefksolverpos_recursive.hpp>

Inheritance diagram for KDL::TreeFkSolverPos_recursive:
KDL::TreeFkSolverPos

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)
 
- Public Member Functions inherited from KDL::TreeFkSolverPos
virtual ~TreeFkSolverPos ()
 

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.

Constructor & Destructor Documentation

◆ TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive ( const Tree tree)

Definition at line 31 of file treefksolverpos_recursive.cpp.

◆ ~TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive ( )

Definition at line 67 of file treefksolverpos_recursive.cpp.

Member Function Documentation

◆ JntToCart()

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_ininput joint coordinates
p_outreference 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::getSegmentPtr(), and KDL::JntArray::rows().

Referenced by iTaSC::Armature::getRelativeFrame(), and iTaSC::Armature::updateJacobian().


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