22 #ifndef KDL_CHAIN_FKSOLVER_HPP
23 #define KDL_CHAIN_FKSOLVER_HPP
62 virtual int JntToCart(
const JntArray& q_in, std::vector<KDL::Frame>& p_out,
int segmentNr=-1)=0;
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.
Definition: chainfksolver.hpp:108
virtual ~ChainFkSolverAcc()=0
virtual int JntToCart(const JntArrayAcc &q_in, std::vector< FrameAcc > &out, int segmentNr=-1)=0
Calculate forward position, velocity and acceleration kinematics, from joint coordinates to cartesian...
virtual int JntToCart(const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0
Calculate forward position, velocity and acceleration kinematics, from joint coordinates to cartesian...
virtual void updateInternalDataStructures()=0
Update the internal data structures.
Definition: chainfksolver.hpp:41
virtual int JntToCart(const JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1)=0
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
virtual ~ChainFkSolverPos()
Definition: chainfksolver.hpp:65
virtual void updateInternalDataStructures()=0
Update the internal data structures.
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
Definition: chainfksolver.hpp:74
virtual ~ChainFkSolverVel()
Definition: chainfksolver.hpp:98
virtual int JntToCart(const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)=0
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
virtual void updateInternalDataStructures()=0
Update the internal data structures.
virtual int JntToCart(const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=0
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
Definition: frameacc.hpp:166
Definition: framevel.hpp:219
Definition: frames.hpp:570
Definition: jntarrayacc.hpp:50
Definition: jntarrayvel.hpp:46
Definition: jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
Definition: articulatedbodyinertia.cpp:28