22#ifndef KDL_CHAINJNTTOJACSOLVER_HPP
23#define KDL_CHAINJNTTOJACSOLVER_HPP
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 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