22 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP 23 #define KDL_CHAINJNTTOJACSOLVER_HPP
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
This class represents an fixed size array containing joint values of a KDL::Chain.
std::vector< bool > locked_joints_
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
represents both translational and rotational velocities.
int setLockedJoints(const std::vector< bool > locked_joints)
virtual void updateInternalDataStructures()
virtual ~ChainJntToJacSolver()
represents a frame transformation in 3D space (rotation + translation)
ChainJntToJacSolver(const Chain &chain)
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int seg_nr=-1)