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 "solveri.hpp" 00026 #include "frames.hpp" 00027 #include "jacobian.hpp" 00028 #include "jntarray.hpp" 00029 #include "chain.hpp" 00030 00031 namespace KDL 00032 { 00041 class ChainJntToJacSolver : public SolverI 00042 { 00043 public: 00044 static const int E_JAC_FAILED = -100; 00045 00046 explicit ChainJntToJacSolver(const Chain& chain); 00047 virtual ~ChainJntToJacSolver(); 00059 virtual int JntToJac(const JntArray& q_in, Jacobian& jac, int segmentNR=-1); 00060 00061 int setLockedJoints(const std::vector<bool> locked_joints); 00062 00064 virtual const char* strError(const int error) const; 00065 00066 private: 00067 const Chain chain; 00068 Twist t_tmp; 00069 Frame T_tmp; 00070 std::vector<bool> locked_joints_; 00071 unsigned int nr_of_unlocked_joints_; 00072 }; 00073 } 00074 #endif 00075