23 #ifndef KDLTREEFKSOLVERPOS_RECURSIVE_HPP
24 #define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
43 virtual int JntToCart(
const JntArray& q_in,
Frame& p_out, std::string segmentName);
48 Frame recursiveFk(
const JntArray& q_in,
const SegmentMap::const_iterator& it);
virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)
Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose...
Definition: treefksolverpos_recursive.cpp:33
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
Definition: treefksolver.hpp:45
Frame recursiveFk(const JntArray &q_in, const SegmentMap::const_iterator &it)
Definition: treefksolverpos_recursive.cpp:48
const Tree tree
Definition: treefksolverpos_recursive.hpp:46
Definition: articulatedbodyinertia.cpp:28
TreeFkSolverPos_recursive(const Tree &tree)
Definition: treefksolverpos_recursive.cpp:28
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
~TreeFkSolverPos_recursive()
Definition: treefksolverpos_recursive.cpp:64
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition: treefksolverpos_recursive.hpp:37
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:99