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kdl/chain.hpp
✓ #include <kdl/chain.hpp>
Computes forward kinematics for a simple 1-DOF chain.
#include <kdl/chain.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <iostream>
int main() {
KDL::Chain chain;
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ)));
KDL::ChainFkSolverPos_recursive fksolver(chain);
KDL::JntArray q(1);
q(0) = 1.0;
KDL::Frame p_out;
fksolver.JntToCart(q, p_out);
std::cout << p_out.p.x() << std::endl;
return 0;
}
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