23 #ifndef KDLTREEFKSOLVERPOS_RECURSIVE_HPP
24 #define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
43 virtual int JntToCart(
const JntArray& q_in,
Frame& p_out,
const std::string& segmentName,
const std::string& baseName);
48 Frame recursiveFk(
const JntArray& q_in, SegmentMap::value_type
const* it, SegmentMap::value_type
const* baseit);
represents a frame transformation in 3D space (rotation + translation)
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)
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree.
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.