Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. It should not be used outside of KDL. More...

#include <chainjnttojacsolver.hpp>

Public Member Functions
	ChainJntToJacSolver (const Chain &chain)
int	JntToJac (const JntArray &q_in, Jacobian &jac)
int	setLockedJoints (const std::vector< bool > locked_joints)
	~ChainJntToJacSolver ()
Private Attributes
const Chain	chain
std::vector< bool >	locked_joints_
int	nr_of_unlocked_joints_
Twist	t_tmp
Frame	T_tmp

Detailed Description

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. It should not be used outside of KDL.

Definition at line 40 of file chainjnttojacsolver.hpp.

Constructor & Destructor Documentation

KDL::ChainJntToJacSolver::ChainJntToJacSolver ( const Chain & chain ) [explicit]

Definition at line 26 of file chainjnttojacsolver.cpp.

KDL::ChainJntToJacSolver::~ChainJntToJacSolver ( )

Definition at line 32 of file chainjnttojacsolver.cpp.

Member Function Documentation

int KDL::ChainJntToJacSolver::JntToJac	(	const JntArray &	q_in,
		Jacobian &	jac
	)

Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effector of the *chain. The alghoritm is similar to the one used in KDL::ChainFkSolverVel_recursive

Parameters: