treefksolver.hpp

// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright  (C)  2008  Julia Jesse
 
// 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 KDL_TREE_FKSOLVER_HPP
#define KDL_TREE_FKSOLVER_HPP
 
#include <string>
 
#include "tree.hpp"
//#include "framevel.hpp"
//#include "frameacc.hpp"
#include "jntarray.hpp"
//#include "jntarrayvel.hpp"
//#include "jntarrayacc.hpp"
 
namespace KDL {

 
    //Forward definition
    class TreeFkSolverPos {
    public:
        virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0;
        virtual ~TreeFkSolverPos(){};
    };

//    class TreeFkSolverVel {
//    public:
//        virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
 
//        virtual ~TreeFkSolverVel(){};
//    };
    
 
//    class TreeFkSolverAcc {
//   public:
//    virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
 
//        virtual ~TreeFkSolverAcc()=0;
//    };
 
 
}//end of namespace KDL
 
#endif