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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright (C) 2008 Julia Jesse
// 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 KDLTREEFKSOLVERPOS_RECURSIVE_HPP
#define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
#include "treefksolver.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 tree (KDL::Tree).
*
* @ingroup KinematicFamily
*/
class TreeFkSolverPos_recursive : public TreeFkSolverPos
{
public:
TreeFkSolverPos_recursive(const Tree& tree);
~TreeFkSolverPos_recursive();
virtual int JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName);
private:
const Tree tree;
Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit);
};
}
#endif
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