22#ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
23#define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
43 virtual int JntToCart(
const JntArray& q_in, std::vector<Frame>& p_out,
int segmentNr=-1);
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition chainfksolverpos_recursive.hpp:37
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
Definition chainfksolverpos_recursive.cpp:34
~ChainFkSolverPos_recursive()
Definition chainfksolverpos_recursive.cpp:96
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chainfksolverpos_recursive.hpp:45
const Chain & chain
Definition chainfksolverpos_recursive.hpp:48
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition chainfksolver.hpp:41
Definition frames.hpp:570
Definition jntarray.hpp:70
Definition articulatedbodyinertia.cpp:26