111 lines
3.5 KiB
C++
111 lines
3.5 KiB
C++
|
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
||
|
// Copyright (C) 2008 Julia Jesse
|
||
|
|
||
|
// Version: 1.0
|
||
|
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
||
|
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
|
||
|
// URL: http://www.orocos.org/kdl
|
||
|
|
||
|
// This library is free software; you can redistribute it and/or
|
||
|
// modify it under the terms of the GNU Lesser General Public
|
||
|
// License as published by the Free Software Foundation; either
|
||
|
// version 2.1 of the License, or (at your option) any later version.
|
||
|
|
||
|
// This library is distributed in the hope that it will be useful,
|
||
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||
|
// Lesser General Public License for more details.
|
||
|
|
||
|
// You should have received a copy of the GNU Lesser General Public
|
||
|
// License along with this library; if not, write to the Free Software
|
||
|
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||
|
|
||
|
#ifndef KDL_TREE_FKSOLVER_HPP
|
||
|
#define KDL_TREE_FKSOLVER_HPP
|
||
|
|
||
|
#include <string>
|
||
|
|
||
|
#include "tree.hpp"
|
||
|
//#include "framevel.hpp"
|
||
|
//#include "frameacc.hpp"
|
||
|
#include "jntarray.hpp"
|
||
|
//#include "jntarrayvel.hpp"
|
||
|
//#include "jntarrayacc.hpp"
|
||
|
|
||
|
namespace KDL {
|
||
|
|
||
|
/**
|
||
|
* \brief This <strong>abstract</strong> class encapsulates a
|
||
|
* solver for the forward position kinematics for a KDL::Tree.
|
||
|
*
|
||
|
* @ingroup KinematicFamily
|
||
|
*/
|
||
|
|
||
|
//Forward definition
|
||
|
class TreeFkSolverPos {
|
||
|
public:
|
||
|
/**
|
||
|
* Calculate forward position kinematics for a KDL::Tree,
|
||
|
* from joint coordinates to cartesian pose.
|
||
|
*
|
||
|
* @param q_in input joint coordinates
|
||
|
* @param p_out reference to output cartesian pose
|
||
|
*
|
||
|
* @return if < 0 something went wrong
|
||
|
*/
|
||
|
virtual int JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName)=0;
|
||
|
virtual ~TreeFkSolverPos(){};
|
||
|
};
|
||
|
|
||
|
/**
|
||
|
* \brief This <strong>abstract</strong> class encapsulates a solver
|
||
|
* for the forward velocity kinematics for a KDL::Tree.
|
||
|
*
|
||
|
* @ingroup KinematicFamily
|
||
|
*/
|
||
|
// class TreeFkSolverVel {
|
||
|
// public:
|
||
|
/**
|
||
|
* Calculate forward position and velocity kinematics, from
|
||
|
* joint coordinates to cartesian coordinates.
|
||
|
*
|
||
|
* @param q_in input joint coordinates (position and velocity)
|
||
|
* @param out output cartesian coordinates (position and velocity)
|
||
|
*
|
||
|
* @return if < 0 something went wrong
|
||
|
*/
|
||
|
// virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
|
||
|
|
||
|
// virtual ~TreeFkSolverVel(){};
|
||
|
// };
|
||
|
|
||
|
/**
|
||
|
* \brief This <strong>abstract</strong> class encapsulates a solver
|
||
|
* for the forward acceleration kinematics for a KDL::Tree.
|
||
|
*
|
||
|
* @ingroup KinematicFamily
|
||
|
*/
|
||
|
|
||
|
// class TreeFkSolverAcc {
|
||
|
// public:
|
||
|
/**
|
||
|
* Calculate forward position, velocity and accelaration
|
||
|
* kinematics, from joint coordinates to cartesian coordinates
|
||
|
*
|
||
|
* @param q_in input joint coordinates (position, velocity and
|
||
|
* acceleration
|
||
|
@param out output cartesian coordinates (position, velocity
|
||
|
* and acceleration
|
||
|
*
|
||
|
* @return if < 0 something went wrong
|
||
|
*/
|
||
|
// virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
|
||
|
|
||
|
// virtual ~TreeFkSolverAcc()=0;
|
||
|
// };
|
||
|
|
||
|
|
||
|
}//end of namespace KDL
|
||
|
|
||
|
#endif
|