public FrameVel Inverse()
{
FrameVel ret = new FrameVel(kdlPINVOKE.FrameVel_Inverse__SWIG_0(swigCPtr), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public override int JntToCart(JntArrayVel q_in, FrameVel _out)
{
int ret = kdlPINVOKE.ChainFkSolverVel_recursive_JntToCart__SWIG_1(swigCPtr, JntArrayVel.getCPtr(q_in), FrameVel.getCPtr(_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static FrameVel Identity()
{
FrameVel ret = new FrameVel(kdlPINVOKE.FrameVel_Identity(), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int CartToJnt(JntArray q_init, FrameVel v_in, JntArrayVel q_out)
{
int ret = kdlPINVOKE.ChainIkSolverVel_CartToJnt__SWIG_1(swigCPtr, JntArray.getCPtr(q_init), FrameVel.getCPtr(v_in), JntArrayVel.getCPtr(q_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public override int CartToJnt(JntArray arg0, FrameVel arg1, JntArrayVel arg2)
{
int ret = kdlPINVOKE.ChainIkSolverVel_pinv_CartToJnt__SWIG_1(swigCPtr, JntArray.getCPtr(arg0), FrameVel.getCPtr(arg1), JntArrayVel.getCPtr(arg2));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int JntToCart(JntArrayVel q_in, FrameVel _out, int segmentNr)
{
int ret = kdlPINVOKE.ChainFkSolverVel_JntToCart__SWIG_0(swigCPtr, JntArrayVel.getCPtr(q_in), FrameVel.getCPtr(_out), segmentNr);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(FrameVel obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
