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