KDL 1.5.1
treefksolver.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 KDL_TREE_FKSOLVER_HPP
24#define KDL_TREE_FKSOLVER_HPP
25
26#include <string>
27
28#include "tree.hpp"
29//#include "framevel.hpp"
30//#include "frameacc.hpp"
31#include "jntarray.hpp"
32//#include "jntarrayvel.hpp"
33//#include "jntarrayacc.hpp"
34
35namespace KDL {
36
44 //Forward definition
46 public:
56 virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0;
57 virtual ~TreeFkSolverPos(){};
58 };
59
66// class TreeFkSolverVel {
67// public:
77// virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
78
79// virtual ~TreeFkSolverVel(){};
80// };
81
89// class TreeFkSolverAcc {
90// public:
102// virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
103
104// virtual ~TreeFkSolverAcc()=0;
105// };
106
107
108}//end of namespace KDL
109
110#endif
Definition: frames.hpp:570
Definition: jntarray.hpp:70
Definition: treefksolver.hpp:45
virtual ~TreeFkSolverPos()
Definition: treefksolver.hpp:57
virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)=0
Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.
Definition: articulatedbodyinertia.cpp:26