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KDL/install/include/kdl/treefksolverpos_recursive.hpp

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+// 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 KDLTREEFKSOLVERPOS_RECURSIVE_HPP
+#define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
+
+#include "treefksolver.hpp"
+
+namespace KDL {
+
+    /**
+     * Implementation of a recursive forward position kinematics
+     * algorithm to calculate the position transformation from joint
+     * space to Cartesian space of a general kinematic tree (KDL::Tree).
+     *
+     * @ingroup KinematicFamily
+     */
+    class TreeFkSolverPos_recursive : public TreeFkSolverPos
+    {
+    public:
+        TreeFkSolverPos_recursive(const Tree& tree);
+        ~TreeFkSolverPos_recursive();
+
+        virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName);
+
+    private:
+        const Tree tree;
+        
+        Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it);
+    };
+
+}
+
+#endif