KDL 1.5.1
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chainfksolver.hpp
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1// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDL_CHAIN_FKSOLVER_HPP
23#define KDL_CHAIN_FKSOLVER_HPP
24
25#include "chain.hpp"
26#include "framevel.hpp"
27#include "frameacc.hpp"
28#include "jntarray.hpp"
29#include "jntarrayvel.hpp"
30#include "jntarrayacc.hpp"
31#include "solveri.hpp"
32
33namespace KDL {
40 //Forward definition
42 public:
52 virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0;
62 virtual int JntToCart(const JntArray& q_in, std::vector<KDL::Frame>& p_out,int segmentNr=-1)=0;
63
65 virtual ~ChainFkSolverPos(){};
66 };
67
75 public:
85 virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
95 virtual int JntToCart(const JntArrayVel& q_in, std::vector<KDL::FrameVel>& out,int segmentNr=-1)=0;
96
98 virtual ~ChainFkSolverVel(){};
99 };
100
108 public:
120 virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
132 virtual int JntToCart(const JntArrayAcc& q_in, std::vector<FrameAcc>& out,int segmentNr=-1)=0;
133
135 virtual ~ChainFkSolverAcc()=0;
136 };
137
138
139}//end of namespace KDL
140
141#endif
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.
Definition chainfksolver.hpp:107
virtual ~ChainFkSolverAcc()=0
virtual int JntToCart(const JntArrayAcc &q_in, std::vector< FrameAcc > &out, int segmentNr=-1)=0
Calculate forward position, velocity and acceleration kinematics, from joint coordinates to cartesian...
virtual int JntToCart(const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0
Calculate forward position, velocity and acceleration kinematics, from joint coordinates to cartesian...
virtual void updateInternalDataStructures()=0
Update the internal data structures.
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition chainfksolver.hpp:41
virtual int JntToCart(const JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1)=0
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
virtual ~ChainFkSolverPos()
Definition chainfksolver.hpp:65
virtual void updateInternalDataStructures()=0
Update the internal data structures.
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
Definition chainfksolver.hpp:74
virtual ~ChainFkSolverVel()
Definition chainfksolver.hpp:98
virtual int JntToCart(const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)=0
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
virtual void updateInternalDataStructures()=0
Update the internal data structures.
virtual int JntToCart(const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=0
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
Definition frameacc.hpp:166
Definition framevel.hpp:219
Definition frames.hpp:570
Definition jntarrayacc.hpp:50
Definition jntarrayvel.hpp:46
Definition jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition solveri.hpp:85
Definition articulatedbodyinertia.cpp:26