38 unsigned int segNr = (
unsigned int)segmentNr;
50 for(
unsigned int i=0;i<segNr;i++){
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
~ChainFkSolverPos_recursive()
ChainFkSolverPos_recursive(const Chain &chain)
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
const Segment & getSegment(unsigned int nr) const
unsigned int getNrOfJoints() const
unsigned int getNrOfSegments() const
represents a frame transformation in 3D space (rotation + translation)
unsigned int rows() const
unsigned int getNDof() const
Frame pose(const double *q) const
const Joint & getJoint() const