roboticslab::ChainFkSolverPos_ST Class Reference

FK solver using Screw Theory. More...

#include <ChainFkSolverPos_ST.hpp>

Inheritance diagram for roboticslab::ChainFkSolverPos_ST:

Public Member Functions
int	JntToCart (const KDL::JntArray &q_in, KDL::Frame &p_out, int segmentNr=-1) override
	Perform FK on the selected segment.
int	JntToCart (const KDL::JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1) override
	Perform FK on the selected segments (unsupported)
void	updateInternalDataStructures () override
	Update the internal data structures.
const char *	strError (const int error) const override
	Return a description of the last error.

Static Public Member Functions
static KDL::ChainFkSolverPos *	create (const KDL::Chain &chain)
	Create an instance of ChainFkSolverPos_ST.

Static Public Attributes
static const int	E_OPERATION_NOT_SUPPORTED = -100
	Return code, operation not supported.
static const int	E_ILLEGAL_ARGUMENT_SIZE = -101
	Return code, input vector size does not match expected output vector size.

Private Member Functions
	ChainFkSolverPos_ST (const KDL::Chain &chain)

Private Attributes
const KDL::Chain &	chain
PoeExpression	poe

Detailed Description

Implementation of a forward position kinematics algorithm. This is a thin wrapper around PoeExpression. Methods that retrieve resulting frames for intermediate links are not supported.

Member Function Documentation

create()

KDL::ChainFkSolverPos * ChainFkSolverPos_ST::create ( const KDL::Chain &  chain )

static

Parameters

chain

Input kinematic chain.

Returns

Solver instance.

JntToCart() [1/2]

int ChainFkSolverPos_ST::JntToCart ( const KDL::JntArray &  q_in, KDL::Frame &  p_out, int  segmentNr = -1  )

override

Parameters

q_in	Input joint coordinates.
p_out	Reference to output cartesian pose.
segmentNr	Desired segment frame (unsupported).

Returns

Return code, < 0 if something went wrong.

JntToCart() [2/2]

int ChainFkSolverPos_ST::JntToCart ( const KDL::JntArray &  q_in, std::vector< KDL::Frame > &  p_out, int  segmentNr = -1  )

override

Parameters

q_in	Input joint coordinates.
p_out	Reference to a vector of output cartesian poses for all segments.
segmentNr	Last selected segment frame.

Returns

Return code, < 0 if something went wrong.

Warning

Unsupported, will return E_OPERATION_NOT_SUPPORTED.

strError()

const char * ChainFkSolverPos_ST::strError ( const int  error ) const

override

Parameters

error

Error code.

Returns

If error is known then a description of error, otherwise "UNKNOWN ERROR".

updateInternalDataStructures()

void ChainFkSolverPos_ST::updateInternalDataStructures ( )

override

Update the internal data structures. This is required if the number of segments or number of joints of a chain has changed. This provides a single point of contact for solver memory allocations.

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The documentation for this class was generated from the following files:

• libraries/YarpPlugins/KdlSolver/ChainFkSolverPos_ST.hpp
• libraries/YarpPlugins/KdlSolver/ChainFkSolverPos_ST.cpp