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22 #ifndef KDL_CHAIN_FKSOLVERVEL_RECURSIVE_HPP
23 #define KDL_CHAIN_FKSOLVERVEL_RECURSIVE_HPP
virtual int JntToCart(const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
Definition: chainfksolvervel_recursive.cpp:36
const Chain & chain
Definition: chainfksolvervel_recursive.hpp:45
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
Definition: chainfksolver.hpp:74
Definition: articulatedbodyinertia.cpp:28
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition: chain.hpp:76
@ E_OUT_OF_RANGE
Requested index out of range.
Definition: solveri.hpp:103
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition: chain.cpp:68
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
Frame pose(const double &q) const
Request the pose of the segment, given the joint position q.
Definition: segment.cpp:57
Implementation of a recursive forward position and velocity kinematics algorithm to calculate the pos...
Definition: chainfksolvervel_recursive.hpp:38
Twist twist(const double &q, const double &qdot) const
Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity ...
Definition: segment.cpp:62
@ None
Definition: joint.hpp:47
~ChainFkSolverVel_recursive()
Definition: chainfksolvervel_recursive.cpp:32
Definition: jntarrayvel.hpp:46
static IMETHOD FrameVel Identity()
Definition: framevel.inl:28
JntArray qdot
Definition: jntarrayvel.hpp:49
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainfksolvervel_recursive.hpp:45
Definition: framevel.hpp:204
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159
ChainFkSolverVel_recursive(const Chain &chain)
Definition: chainfksolvervel_recursive.cpp:27
JntArray q
Definition: jntarrayvel.hpp:48
@ E_NOERROR
No error.
Definition: solveri.hpp:91
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149