108 lines
3.4 KiB
C++
108 lines
3.4 KiB
C++
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_CHAIN_FKSOLVER_HPP
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#define KDL_CHAIN_FKSOLVER_HPP
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#include "chain.hpp"
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#include "framevel.hpp"
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#include "frameacc.hpp"
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#include "jntarray.hpp"
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#include "jntarrayvel.hpp"
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#include "jntarrayacc.hpp"
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namespace KDL {
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/**
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* \brief This <strong>abstract</strong> class encapsulates a
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* solver for the forward position kinematics for a KDL::Chain.
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*
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* @ingroup KinematicFamily
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*/
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//Forward definition
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class ChainFkSolverPos {
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public:
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/**
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* Calculate forward position kinematics for a KDL::Chain,
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* from joint coordinates to cartesian pose.
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*
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* @param q_in input joint coordinates
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* @param p_out reference to output cartesian pose
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*
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* @return if < 0 something went wrong
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*/
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virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0;
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virtual ~ChainFkSolverPos(){};
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};
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/**
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* \brief This <strong>abstract</strong> class encapsulates a solver
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* for the forward velocity kinematics for a KDL::Chain.
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*
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* @ingroup KinematicFamily
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*/
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class ChainFkSolverVel {
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public:
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/**
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* Calculate forward position and velocity kinematics, from
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* joint coordinates to cartesian coordinates.
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*
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* @param q_in input joint coordinates (position and velocity)
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* @param out output cartesian coordinates (position and velocity)
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*
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* @return if < 0 something went wrong
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*/
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virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
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virtual ~ChainFkSolverVel(){};
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};
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/**
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* \brief This <strong>abstract</strong> class encapsulates a solver
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* for the forward acceleration kinematics for a KDL::Chain.
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*
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* @ingroup KinematicFamily
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*/
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class ChainFkSolverAcc {
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public:
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/**
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* Calculate forward position, velocity and accelaration
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* kinematics, from joint coordinates to cartesian coordinates
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*
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* @param q_in input joint coordinates (position, velocity and
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* acceleration
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@param out output cartesian coordinates (position, velocity
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* and acceleration
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*
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* @return if < 0 something went wrong
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*/
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virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
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virtual ~ChainFkSolverAcc()=0;
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};
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}//end of namespace KDL
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#endif
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