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). More...

#include <src/treefksolverpos_recursive.hpp>

Inheritance diagram for KDL::TreeFkSolverPos_recursive:

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Collaboration diagram for KDL::TreeFkSolverPos_recursive:

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Public Member Functions
	TreeFkSolverPos_recursive (const Tree &tree)

	~TreeFkSolverPos_recursive ()

virtual int	JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName)
	Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose. More...

Private Member Functions
Frame	recursiveFk (const JntArray &q_in, const SegmentMap::const_iterator &it)

Private Attributes
const Tree	tree

Detailed Description

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).

Constructor & Destructor Documentation

◆ TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive ( const Tree & tree )

◆ ~TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive ( )

Member Function Documentation

◆ JntToCart()

int KDL::TreeFkSolverPos_recursive::JntToCart	(	const JntArray &	q_in,
		Frame &	p_out,
		std::string	segmentName
	)

virtual

Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.

Parameters

q_in	input joint coordinates
p_out	reference to output cartesian pose

Returns: if < 0 something went wrong

Implements KDL::TreeFkSolverPos.

References KDL::Tree::getNrOfJoints(), KDL::Tree::getSegment(), KDL::Tree::getSegments(), recursiveFk(), KDL::JntArray::rows(), and tree.

◆ recursiveFk()

Frame KDL::TreeFkSolverPos_recursive::recursiveFk	(	const JntArray &	q_in,
		const SegmentMap::const_iterator &	it
	)

private

References KDL::Tree::getRootSegment(), GetTreeElementParent, GetTreeElementQNr, GetTreeElementSegment, and tree.

Referenced by JntToCart().

Member Data Documentation

◆ tree

const Tree KDL::TreeFkSolverPos_recursive::tree

private

Referenced by JntToCart(), and recursiveFk().

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes