Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
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#include <chainjnttojacsolver.hpp>
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enum | {
E_DEGRADED = +1,
E_NOERROR = 0,
E_NO_CONVERGE = -1,
E_UNDEFINED = -2,
E_NOT_UP_TO_DATE = -3,
E_SIZE_MISMATCH = -4,
E_MAX_ITERATIONS_EXCEEDED = -5,
E_OUT_OF_RANGE = -6,
E_NOT_IMPLEMENTED = -7,
E_SVD_FAILED = -8
} |
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int | error |
| Latest error, initialized to E_NOERROR in constructor. More...
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Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition at line 38 of file chainjnttojacsolver.hpp.
KDL::ChainJntToJacSolver::ChainJntToJacSolver |
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const Chain & |
chain | ) |
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explicit |
KDL::ChainJntToJacSolver::~ChainJntToJacSolver |
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virtual |
int KDL::ChainJntToJacSolver::JntToJac |
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const JntArray & |
q_in, |
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Jacobian & |
jac, |
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int |
seg_nr = -1 |
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) |
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virtual |
Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effector of the *chain. The algorithm is similar to the one used in KDL::ChainFkSolverVel_recursive
- Parameters
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q_in | input joint positions |
jac | output jacobian |
seg_nr | The final segment to compute |
- Returns
- success/error code
Definition at line 48 of file chainjnttojacsolver.cpp.
int KDL::ChainJntToJacSolver::setLockedJoints |
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const std::vector< bool > |
locked_joints | ) |
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- Parameters
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locked_joints | new values for locked joints |
- Returns
- success/error code
Definition at line 38 of file chainjnttojacsolver.cpp.
void KDL::ChainJntToJacSolver::updateInternalDataStructures |
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virtual |
Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.
Implements KDL::SolverI.
Definition at line 31 of file chainjnttojacsolver.cpp.
const Chain& KDL::ChainJntToJacSolver::chain |
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private |
std::vector<bool> KDL::ChainJntToJacSolver::locked_joints_ |
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private |
Twist KDL::ChainJntToJacSolver::t_tmp |
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private |
Frame KDL::ChainJntToJacSolver::T_tmp |
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private |
The documentation for this class was generated from the following files: