KDL  1.4.0
treefksolverpos_recursive.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 // Copyright (C) 2008 Julia Jesse
3 
4 // Version: 1.0
5 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
7 // URL: http://www.orocos.org/kdl
8 
9 // This library is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU Lesser General Public
11 // License as published by the Free Software Foundation; either
12 // version 2.1 of the License, or (at your option) any later version.
13 
14 // This library is distributed in the hope that it will be useful,
15 // but WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // Lesser General Public License for more details.
18 
19 // You should have received a copy of the GNU Lesser General Public
20 // License along with this library; if not, write to the Free Software
21 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22 
23 #ifndef KDLTREEFKSOLVERPOS_RECURSIVE_HPP
24 #define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
25 
26 #include "treefksolver.hpp"
27 
28 namespace KDL {
29 
38  {
39  public:
42 
43  virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName);
44 
45  private:
46  const Tree tree;
47 
48  Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it);
49  };
50 
51 }
52 
53 #endif
KDL::Tree::getNrOfJoints
unsigned int getNrOfJoints() const
Request the total number of joints in the tree.
Definition: tree.hpp:159
KDL::TreeFkSolverPos_recursive
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition: treefksolverpos_recursive.hpp:38
KDL::JntArray
Definition: jntarray.hpp:70
KDL::Tree::getRootSegment
SegmentMap::const_iterator getRootSegment() const
Request the root segment of the tree.
Definition: tree.hpp:186
KDL::TreeFkSolverPos
Definition: treefksolver.hpp:45
GetTreeElementParent
#define GetTreeElementParent(tree_element)
Definition: tree.hpp:60
KDL
Definition: articulatedbodyinertia.cpp:28
treefksolverpos_recursive.hpp
KDL::Tree::getSegments
const SegmentMap & getSegments() const
Definition: tree.hpp:205
treefksolver.hpp
KDL::JntArray::rows
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive
~TreeFkSolverPos_recursive()
Definition: treefksolverpos_recursive.cpp:64
KDL::TreeFkSolverPos_recursive::tree
const Tree tree
Definition: treefksolverpos_recursive.hpp:46
KDL::Frame
Definition: frames.hpp:570
KDL::TreeFkSolverPos_recursive::recursiveFk
Frame recursiveFk(const JntArray &q_in, const SegmentMap::const_iterator &it)
Definition: treefksolverpos_recursive.cpp:48
KDL::Tree
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
GetTreeElementSegment
#define GetTreeElementSegment(tree_element)
Definition: tree.hpp:62
KDL::TreeFkSolverPos_recursive::JntToCart
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
KDL::Tree::getSegment
SegmentMap::const_iterator getSegment(const std::string &segment_name) const
Request the segment of the tree with name segment_name.
Definition: tree.hpp:177
KDL::TreeElement
Definition: tree.hpp:67
KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive
TreeFkSolverPos_recursive(const Tree &tree)
Definition: treefksolverpos_recursive.cpp:28
GetTreeElementQNr
#define GetTreeElementQNr(tree_element)
Definition: tree.hpp:61