KDL::ChainFkSolverPos Class Reference

This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...

#include <chainfksolver.hpp>

Inheritance diagram for KDL::ChainFkSolverPos:

Public Member Functions
virtual int	JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
virtual int	JntToCart (const JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1)=0
virtual void	updateInternalDataStructures ()=0
virtual	~ChainFkSolverPos ()
Public Member Functions inherited from KDL::SolverI
	SolverI ()
	Initialize latest error to E_NOERROR.
virtual	~SolverI ()
virtual int	getError () const
	Return the latest error.
virtual const char *	strError (const int error) const

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{   E_DEGRADED = +1 , E_NOERROR = 0 , E_NO_CONVERGE = -1 , E_UNDEFINED = -2 ,   E_NOT_UP_TO_DATE = -3 , E_SIZE_MISMATCH = -4 , E_MAX_ITERATIONS_EXCEEDED = -5 , E_OUT_OF_RANGE = -6 ,   E_NOT_IMPLEMENTED = -7 , E_SVD_FAILED = -8 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor.

Detailed Description

This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.

Constructor & Destructor Documentation

~ChainFkSolverPos()

virtual KDL::ChainFkSolverPos::~ChainFkSolverPos ( )

inlinevirtual

Member Function Documentation

JntToCart() [1/2]

virtual int KDL::ChainFkSolverPos::JntToCart ( const JntArray & q_in, Frame & p_out, int segmentNr = -1 )

pure virtual

Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.

Parameters

q_in	input joint coordinates
p_out	reference to output cartesian pose

Returns

if < 0 something went wrong

Implemented in KDL::ChainFkSolverPos_recursive.

JntToCart() [2/2]

virtual int KDL::ChainFkSolverPos::JntToCart ( const JntArray & q_in, std::vector< KDL::Frame > & p_out, int segmentNr = -1 )

pure virtual

Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.

Parameters

q_in	input joint coordinates
p_out	reference to a vector of output cartesian poses for all segments

Returns

if < 0 something went wrong

updateInternalDataStructures()

virtual void KDL::ChainFkSolverPos::updateInternalDataStructures ( )

pure virtual

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.

Implemented in KDL::ChainFkSolverPos_recursive.

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

• build/orocos_kdl_install/include/kdl/chainfksolver.hpp