38 SegmentMap::value_type
const* it = tree.
getSegmentPtr(segmentName);
39 SegmentMap::value_type
const* baseit = tree.
getSegmentPtr(baseName);
48 p_out = recursiveFk(q_in, it, baseit);
53 Frame TreeFkSolverPos_recursive::recursiveFk(
const JntArray& q_in, SegmentMap::value_type
const* it, SegmentMap::value_type
const* baseit)
63 return recursiveFk(q_in, currentElement.
parent, baseit) * currentFrame;
represents a frame transformation in 3D space (rotation + translation)
unsigned int rows() const
Frame pose(const double *q) const
SegmentMap::value_type const * parent
TreeFkSolverPos_recursive(const Tree &tree)
~TreeFkSolverPos_recursive()
virtual int JntToCart(const JntArray &q_in, Frame &p_out, const std::string &segmentName, const std::string &baseName)
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
SegmentMap::value_type const * getSegmentPtr(const std::string &segment_name) const
unsigned int getNrOfJoints() const