chainfksolverpos_recursive.hpp

// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
 
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
 
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
 
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
 
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
#ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
#define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
 
#include "chainfksolver.hpp"
 
namespace KDL {

    class ChainFkSolverPos_recursive : public ChainFkSolverPos
    {
    public:
        ChainFkSolverPos_recursive(const Chain& chain);
        ~ChainFkSolverPos_recursive();
 
        virtual int JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr=-1);
        virtual int JntToCart(const JntArray& q_in, std::vector<Frame>& p_out, int segmentNr=-1);
 
        virtual void updateInternalDataStructures() {};
 
    private:
        const Chain& chain;
    };
 
}
 
#endif