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Diffstat (limited to 'intern/itasc/kdl/chainfksolverpos_recursive.hpp')
-rw-r--r-- | intern/itasc/kdl/chainfksolverpos_recursive.hpp | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/intern/itasc/kdl/chainfksolverpos_recursive.hpp b/intern/itasc/kdl/chainfksolverpos_recursive.hpp new file mode 100644 index 00000000000..72cdab0b28b --- /dev/null +++ b/intern/itasc/kdl/chainfksolverpos_recursive.hpp @@ -0,0 +1,50 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP +#define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP + +#include "chainfksolver.hpp" + +namespace KDL { + + /** + * Implementation of a recursive forward position kinematics + * algorithm to calculate the position transformation from joint + * space to Cartesian space of a general kinematic chain (KDL::Chain). + * + * @ingroup KinematicFamily + */ + class ChainFkSolverPos_recursive : public ChainFkSolverPos + { + public: + ChainFkSolverPos_recursive(const Chain& chain); + ~ChainFkSolverPos_recursive(); + + virtual int JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr=-1); + + private: + const Chain chain; + }; + +} + +#endif |