47 T_total = T_local * T_total;
53 t_local = t_local.
RefPoint(T_total.p - T_local.
p);
55 t_local = T_total.M.Inverse(t_local);
#define GetTreeElementSegment(tree_element)
int JntToJac(const JntArray &q_in, Jacobian &jac, const std::string &segmentname)
unsigned int rows() const
#define GetTreeElementQNr(tree_element)
Twist RefPoint(const Vector &v_base_AB) const
bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
This class represents an fixed size array containing joint values of a KDL::Chain.
TreeJntToJacSolver(const Tree &tree)
#define GetTreeElementParent(tree_element)
unsigned int columns() const
Rotation M
Orientation of the Frame.
represents both translational and rotational velocities.
IMETHOD void SetToZero(Vector &v)
void setColumn(unsigned int i, const Twist &t)
Vector p
origine of the Frame
const SegmentMap & getSegments() const
SegmentMap::const_iterator getRootSegment() const
represents a frame transformation in 3D space (rotation + translation)
unsigned int getNrOfJoints() const
virtual ~TreeJntToJacSolver()
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...