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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