23 #ifndef KDL_TREE_FKSOLVER_HPP
24 #define KDL_TREE_FKSOLVER_HPP
56 virtual int JntToCart(
const JntArray& q_in,
Frame& p_out,
const std::string& segmentName,
const std::string& baseName)=0;
represents a frame transformation in 3D space (rotation + translation)
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree.
virtual ~TreeFkSolverPos()
virtual int JntToCart(const JntArray &q_in, Frame &p_out, const std::string &segmentName, const std::string &baseName)=0