#include <chainfksolvervel_recursive.hpp>

Inheritance diagram for KDL::ChainFkSolverVel_recursive:

Public Member Functions
	ChainFkSolverVel_recursive (const Chain &chain)
	~ChainFkSolverVel_recursive ()
virtual int	JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)
virtual int	JntToCart (const JntArrayVel &q_in, std::vector< FrameVel > &out, int segmentNr=-1)
virtual void	updateInternalDataStructures ()
Public Member Functions inherited from KDL::ChainFkSolverVel
virtual int	JntToCart (const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=0
virtual	~ChainFkSolverVel ()
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

Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).

Constructor & Destructor Documentation

◆ ChainFkSolverVel_recursive()

KDL::ChainFkSolverVel_recursive::ChainFkSolverVel_recursive ( const Chain & chain )

◆ ~ChainFkSolverVel_recursive()

KDL::ChainFkSolverVel_recursive::~ChainFkSolverVel_recursive ( )

Member Function Documentation

◆ JntToCart() [1/2]

virtual int KDL::ChainFkSolverVel_recursive::JntToCart	(	const JntArrayVel &	q_in,
		FrameVel &	out,
		int	segmentNr = -1 )

virtual

Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.

Parameters

q_in	input joint coordinates (position and velocity)
out	output cartesian coordinates (position and velocity)

Returns: if < 0 something went wrong

Implements KDL::ChainFkSolverVel.

◆ JntToCart() [2/2]

virtual int KDL::ChainFkSolverVel_recursive::JntToCart	(	const JntArrayVel &	q_in,
		std::vector< FrameVel > &	out,
		int	segmentNr = -1 )

virtual

◆ updateInternalDataStructures()

virtual void KDL::ChainFkSolverVel_recursive::updateInternalDataStructures ( )

inlinevirtual

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.