/usr/include/kdl/treefksolver.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | // 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 KDL_TREE_FKSOLVER_HPP
#define KDL_TREE_FKSOLVER_HPP
#include <string>
#include "tree.hpp"
//#include "framevel.hpp"
//#include "frameacc.hpp"
#include "jntarray.hpp"
//#include "jntarrayvel.hpp"
//#include "jntarrayacc.hpp"
namespace KDL {
/**
* \brief This <strong>abstract</strong> class encapsulates a
* solver for the forward position kinematics for a KDL::Tree.
*
* @ingroup KinematicFamily
*/
//Forward definition
class TreeFkSolverPos {
public:
/**
* Calculate forward position kinematics for a KDL::Tree,
* from joint coordinates to cartesian pose.
*
* @param q_in input joint coordinates
* @param p_out reference to output cartesian pose
*
* @return if < 0 something went wrong
*/
virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0;
virtual ~TreeFkSolverPos(){};
};
/**
* \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward velocity kinematics for a KDL::Tree.
*
* @ingroup KinematicFamily
*/
// class TreeFkSolverVel {
// public:
/**
* Calculate forward position and velocity kinematics, from
* joint coordinates to cartesian coordinates.
*
* @param q_in input joint coordinates (position and velocity)
* @param out output cartesian coordinates (position and velocity)
*
* @return if < 0 something went wrong
*/
// virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
// virtual ~TreeFkSolverVel(){};
// };
/**
* \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward acceleration kinematics for a KDL::Tree.
*
* @ingroup KinematicFamily
*/
// class TreeFkSolverAcc {
// public:
/**
* Calculate forward position, velocity and accelaration
* kinematics, from joint coordinates to cartesian coordinates
*
* @param q_in input joint coordinates (position, velocity and
* acceleration
@param out output cartesian coordinates (position, velocity
* and acceleration
*
* @return if < 0 something went wrong
*/
// virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
// virtual ~TreeFkSolverAcc()=0;
// };
}//end of namespace KDL
#endif
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