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// 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 KDL_CHAIN_FKSOLVER_HPP
#define KDL_CHAIN_FKSOLVER_HPP
#include "chain.hpp"
#include "framevel.hpp"
#include "frameacc.hpp"
#include "jntarray.hpp"
#include "jntarrayvel.hpp"
#include "jntarrayacc.hpp"
namespace KDL {
/**
* \brief This <strong>abstract</strong> class encapsulates a
* solver for the forward position kinematics for a KDL::Chain.
*
* @ingroup KinematicFamily
*/
//Forward definition
class ChainFkSolverPos {
public:
/**
* Calculate forward position kinematics for a KDL::Chain,
* from joint coordinates to cartesian pose.
*
* @param q_in input joint coordinates
* @param p_out reference to output cartesian pose
*
* @return if < 0 something went wrong
*/
virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0;
virtual ~ChainFkSolverPos(){};
};
/**
* \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward velocity kinematics for a KDL::Chain.
*
* @ingroup KinematicFamily
*/
class ChainFkSolverVel {
public:
/**
* Calculate forward position and velocity kinematics, from
* joint coordinates to cartesian coordinates.
*
* @param q_in input joint coordinates (position and velocity)
* @param out output cartesian coordinates (position and velocity)
*
* @return if < 0 something went wrong
*/
virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
virtual ~ChainFkSolverVel(){};
};
/**
* \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward acceleration kinematics for a KDL::Chain.
*
* @ingroup KinematicFamily
*/
class ChainFkSolverAcc {
public:
/**
* Calculate forward position, velocity and accelaration
* kinematics, from joint coordinates to cartesian coordinates
*
* @param q_in input joint coordinates (position, velocity and
* acceleration
@param out output cartesian coordinates (position, velocity
* and acceleration
*
* @return if < 0 something went wrong
*/
virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
virtual ~ChainFkSolverAcc()=0;
};
}//end of namespace KDL
#endif
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