[PyKDL] add vector version of JntToCart for fk pos and vel #497
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Co-authored-by: Copilot <[email protected]>
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Pull Request Overview
This PR adds vector-based versions of the JntToCart method for both forward kinematics position and velocity solvers in PyKDL. The changes enable computing forward kinematics for all segments in a kinematic chain simultaneously, returning results in a list format rather than computing individual segments one at a time.
Key changes:
- Implements vector versions of JntToCart methods using lambda functions with pybind11
- Adds comprehensive test coverage for both position and velocity vector forward kinematics
- Replaces previously commented-out implementations with working solutions
Reviewed Changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| python_orocos_kdl/PyKDL/kinfam.cpp | Implements vector versions of JntToCart methods for ChainFkSolverPos and ChainFkSolverVel using lambda wrappers |
| python_orocos_kdl/tests/kinfamtest.py | Adds test methods testFkPosVect and testFkVelVect to validate the new vector functionality |
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