Exemplo n.º 1
0
        public virtual int JntToCart(JntArrayVel q_in, FrameVelVector _out)
        {
            int ret = kdlPINVOKE.ChainFkSolverVel_JntToCart__SWIG_3(swigCPtr, JntArrayVel.getCPtr(q_in), FrameVelVector.getCPtr(_out));

            if (kdlPINVOKE.SWIGPendingException.Pending)
            {
                throw kdlPINVOKE.SWIGPendingException.Retrieve();
            }
            return(ret);
        }
        public override int JntToCart(JntArrayVel q_in, FrameVelVector _out, int segmentNr)
        {
            int ret = kdlPINVOKE.ChainFkSolverVel_recursive_JntToCart__SWIG_2(swigCPtr, JntArrayVel.getCPtr(q_in), FrameVelVector.getCPtr(_out), segmentNr);

            if (kdlPINVOKE.SWIGPendingException.Pending)
            {
                throw kdlPINVOKE.SWIGPendingException.Retrieve();
            }
            return(ret);
        }
Exemplo n.º 3
0
        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);
        }