KDL 1.5.1
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chainjnttojacsolver.hpp
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1// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDL_CHAINJNTTOJACSOLVER_HPP
23#define KDL_CHAINJNTTOJACSOLVER_HPP
24
25#include "solveri.hpp"
26#include "frames.hpp"
27#include "jacobian.hpp"
28#include "jntarray.hpp"
29#include "chain.hpp"
30
31namespace KDL
32{
39 {
40 public:
41
42 explicit ChainJntToJacSolver(const Chain& chain);
43 virtual ~ChainJntToJacSolver();
55 virtual int JntToJac(const JntArray& q_in, Jacobian& jac, int seg_nr=-1);
56
62 int setLockedJoints(const std::vector<bool> locked_joints);
63
65 virtual void updateInternalDataStructures();
66
67 private:
68 const Chain& chain;
71 std::vector<bool> locked_joints_;
72 };
73}
74#endif
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:39
virtual ~ChainJntToJacSolver()
Definition: chainjnttojacsolver.cpp:34
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int seg_nr=-1)
Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effe...
Definition: chainjnttojacsolver.cpp:48
const Chain & chain
Definition: chainjnttojacsolver.hpp:68
int setLockedJoints(const std::vector< bool > locked_joints)
Definition: chainjnttojacsolver.cpp:38
std::vector< bool > locked_joints_
Definition: chainjnttojacsolver.hpp:71
Frame T_tmp
Definition: chainjnttojacsolver.hpp:70
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainjnttojacsolver.cpp:31
Twist t_tmp
Definition: chainjnttojacsolver.hpp:69
Definition: chain.hpp:35
Definition: frames.hpp:570
Definition: jacobian.hpp:37
Definition: jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26