KDL::TreeJntToJacSolver Class Reference

#include <src/treejnttojacsolver.hpp>

Collaboration diagram for KDL::TreeJntToJacSolver:

Public Member Functions
	TreeJntToJacSolver (const Tree &tree)
virtual	~TreeJntToJacSolver ()
int	JntToJac (const JntArray &q_in, Jacobian &jac, const std::string &segmentname)

Private Attributes
KDL::Tree	tree

Constructor & Destructor Documentation

TreeJntToJacSolver()

KDL::TreeJntToJacSolver::TreeJntToJacSolver ( const Tree & tree )

explicit

References tree.

~TreeJntToJacSolver()

KDL::TreeJntToJacSolver::~TreeJntToJacSolver ( )

virtual

Member Function Documentation

JntToJac()

int KDL::TreeJntToJacSolver::JntToJac	(	const JntArray &	q_in,
		Jacobian &	jac,
		const std::string &	segmentname )

References KDL::changeBase(), KDL::Jacobian::columns(), KDL::Joint::Fixed, KDL::Tree::getNrOfJoints(), KDL::Tree::getRootSegment(), KDL::Tree::getSegments(), GetTreeElementParent, GetTreeElementQNr, GetTreeElementSegment, KDL::Frame::Identity(), KDL::Frame::M, KDL::Frame::p, KDL::Twist::RefPoint(), KDL::JntArray::rows(), KDL::Jacobian::setColumn(), KDL::SetToZero(), and tree.

Referenced by KDL::TreeIkSolverVel_wdls::CartToJnt().

Member Data Documentation

tree

KDL::Tree KDL::TreeJntToJacSolver::tree

private

Referenced by JntToJac(), and TreeJntToJacSolver().

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The documentation for this class was generated from the following files:

• src/treejnttojacsolver.hpp
• src/treejnttojacsolver.cpp