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kdl_install/include/kdl/chainfksolvervel_recursive.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_FKSOLVERVEL_RECURSIVE_HPP
+#define KDL_CHAIN_FKSOLVERVEL_RECURSIVE_HPP
+
+#include "chainfksolver.hpp"
+
+namespace KDL
+{
+    /**
+     * Implementation of a recursive forward position and velocity
+     * kinematics algorithm to calculate the position and velocity
+     * transformation from joint space to Cartesian space of a general
+     * kinematic chain (KDL::Chain).
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainFkSolverVel_recursive : public ChainFkSolverVel
+    {
+    public:
+        ChainFkSolverVel_recursive(const Chain& chain);
+        ~ChainFkSolverVel_recursive();
+
+        virtual int JntToCart(const JntArrayVel& q_in,FrameVel& out,int segmentNr=-1);
+        virtual int JntToCart(const JntArrayVel& q_in,std::vector<FrameVel>& out,int segmentNr=-1);
+        virtual void updateInternalDataStructures() {};
+    private:
+        const Chain& chain;
+    };
+}
+
+#endif