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>

Inheritance diagram for KDL::ChainJntToJacSolver:

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List of all members.

Public Member Functions
	ChainJntToJacSolver (const Chain &chain)
	Jac solver failed.
virtual int	JntToJac (const JntArray &q_in, Jacobian &jac, int segmentNR=-1)
int	setLockedJoints (const std::vector< bool > locked_joints)
virtual const char *	strError (const int error) const
virtual	~ChainJntToJacSolver ()
Static Public Attributes
static const int	E_JAC_FAILED = -100
Private Attributes
const Chain	chain
std::vector< bool >	locked_joints_
unsigned 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 41 of file chainjnttojacsolver.hpp.

Constructor & Destructor Documentation

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

Jac solver failed.

Definition at line 26 of file chainjnttojacsolver.cpp.

KDL::ChainJntToJacSolver::~ChainJntToJacSolver ( ) [virtual]

Definition at line 32 of file chainjnttojacsolver.cpp.

Member Function Documentation

int KDL::ChainJntToJacSolver::JntToJac	(	const JntArray &	q_in,
		Jacobian &	jac,
		int	segmentNR = `-1`
	)		`[virtual]`

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: