Brecht Van Lommel
19a41e5a10
This was using TreeElement before it was fully defined, which gives undefined behavior that happened to work with other libraries but not libc++. Based on patch by Marcus von Appen, modifications for brevity and to ensure we don't dereference invalid memory. Ref T37477.
54 lines
1.9 KiB
C++
54 lines
1.9 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Copyright (C) 2008 Julia Jesse
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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 KDLTREEFKSOLVERPOS_RECURSIVE_HPP
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#define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
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#include "treefksolver.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 tree (KDL::Tree).
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*
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* @ingroup KinematicFamily
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*/
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class TreeFkSolverPos_recursive : public TreeFkSolverPos
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{
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public:
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TreeFkSolverPos_recursive(const Tree& tree);
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~TreeFkSolverPos_recursive();
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virtual int JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName);
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private:
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const Tree tree;
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Frame recursiveFk(const JntArray& q_in, SegmentMap::value_type const* it, SegmentMap::value_type const* baseit);
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};
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}
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#endif
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