FK solver intermediate results

Hello,
I'd like to get all the FK Frames for given chain without having to call
the solver for every segment (not really efficient). What do you think
about having this fonction available in the fk solvers :

virtual int JntToCart(const JntArray& q_in, std::vector<KDL::Frame>&
p_out,int segmentNr=-1)=0;

Should I open a PR ?
Thanks,

Antoine

Ruben Smits's picture

FK solver intermediate results

Sure opening a PR is the most straight-forward way to get this suggestion
in the code base.

R.

On Wed, Jul 8, 2015 at 1:33 PM, Antoine Hoarau <hoarau [dot] robotics [..] ...>
wrote:

> Hello,
> I'd like to get all the FK Frames for given chain without having to call
> the solver for every segment (not really efficient). What do you think
> about having this fonction available in the fk solvers :
>
> virtual int JntToCart(const JntArray& q_in, std::vector<KDL::Frame>&
> p_out,int segmentNr=-1)=0;
>
> Should I open a PR ?
> Thanks,
>
> Antoine
>
>
>
>
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