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KDL/install/include/kdl/chainfksolver.hpp

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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// 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_CHAIN_FKSOLVER_HPP
+#define KDL_CHAIN_FKSOLVER_HPP
+
+#include "chain.hpp"
+#include "framevel.hpp"
+#include "frameacc.hpp"
+#include "jntarray.hpp"
+#include "jntarrayvel.hpp"
+#include "jntarrayacc.hpp"
+#include "solveri.hpp"
+
+namespace KDL {
+    /**
+     * \brief This <strong>abstract</strong> class encapsulates a
+     * solver for the forward position kinematics for a KDL::Chain.
+     *
+     * @ingroup KinematicFamily
+     */
+    //Forward definition
+    class ChainFkSolverPos : public KDL::SolverI {
+    public:
+        /**
+         * Calculate forward position kinematics for a KDL::Chain,
+         * 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,int segmentNr=-1)=0;
+        /**
+         * Calculate forward position kinematics for a KDL::Chain,
+         * from joint coordinates to cartesian pose.
+         *
+         * @param q_in input joint coordinates
+         * @param p_out reference to a vector of output cartesian poses for all segments
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int JntToCart(const JntArray& q_in, std::vector<KDL::Frame>& p_out,int segmentNr=-1)=0;
+
+        virtual void updateInternalDataStructures()=0;
+        virtual ~ChainFkSolverPos(){};
+    };
+
+    /**
+     * \brief This <strong>abstract</strong> class encapsulates a solver
+     * for the forward velocity kinematics for a KDL::Chain.
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainFkSolverVel : public KDL::SolverI {
+    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;
+        /**
+         * 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 for all segments (position and velocity)
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int JntToCart(const JntArrayVel& q_in, std::vector<KDL::FrameVel>& out,int segmentNr=-1)=0;
+
+        virtual void updateInternalDataStructures()=0;
+        virtual ~ChainFkSolverVel(){};
+    };
+
+    /**
+     * \brief This <strong>abstract</strong> class encapsulates a solver
+     * for the forward acceleration kinematics for a KDL::Chain.
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainFkSolverAcc : public KDL::SolverI {
+    public:
+        /**
+         * Calculate forward position, velocity and acceleration
+         * 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;
+        /**
+         * Calculate forward position, velocity and acceleration
+         * 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 for all segments
+         *
+         * @return if < 0 something went wrong
+         */
+    virtual int JntToCart(const JntArrayAcc& q_in, std::vector<FrameAcc>& out,int segmentNr=-1)=0;
+    
+        virtual void updateInternalDataStructures()=0;
+        virtual ~ChainFkSolverAcc()=0;
+    };
+
+
+}//end of namespace KDL
+
+#endif