ChainFkSolverPos_ST.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __CHAIN_FK_SOLVER_POS_ST_HPP__
#define __CHAIN_FK_SOLVER_POS_ST_HPP__
 
#include <kdl/chainfksolver.hpp>
 
#include "ProductOfExponentials.hpp"
 
namespace roboticslab
{
 
class ChainFkSolverPos_ST : public KDL::ChainFkSolverPos
{
public:
    int JntToCart(const KDL::JntArray & q_in, KDL::Frame & p_out, int segmentNr = -1) override;
 
    int JntToCart(const KDL::JntArray & q_in, std::vector<KDL::Frame> & p_out, int segmentNr = -1) override;
 
    void updateInternalDataStructures() override;
 
    const char * strError(const int error) const override;
 
    static KDL::ChainFkSolverPos * create(const KDL::Chain & chain);
 
    static const int E_OPERATION_NOT_SUPPORTED = -100;
 
    static const int E_ILLEGAL_ARGUMENT_SIZE = -101;
 
private:
    ChainFkSolverPos_ST(const KDL::Chain & chain);
 
    const KDL::Chain & chain;
 
    PoeExpression poe;
};
 
} // namespace roboticslab
 
#endif // __CHAIN_FK_SOLVER_POS_ST_HPP__