chainjnttojacsolver.hpp
Go to the documentation of this file.00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP 00023 #define KDL_CHAINJNTTOJACSOLVER_HPP 00024 00025 #include "frames.hpp" 00026 #include "jacobian.hpp" 00027 #include "jntarray.hpp" 00028 #include "chain.hpp" 00029 00030 namespace KDL 00031 { 00040 class ChainJntToJacSolver 00041 { 00042 public: 00043 explicit ChainJntToJacSolver(const Chain& chain); 00044 ~ChainJntToJacSolver(); 00056 int JntToJac(const JntArray& q_in,Jacobian& jac); 00057 00058 int setLockedJoints(const std::vector<bool> locked_joints); 00059 private: 00060 const Chain chain; 00061 Twist t_tmp; 00062 Frame T_tmp; 00063 std::vector<bool> locked_joints_; 00064 int nr_of_unlocked_joints_; 00065 }; 00066 } 00067 #endif 00068