KDL::ChainJntToJacSolver Class Reference

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. More...

#include <chainjnttojacsolver.hpp>

Inheritance diagram for KDL::ChainJntToJacSolver:

Public Member Functions
	ChainJntToJacSolver (const Chain &chain)
virtual int	JntToJac (const JntArray &q_in, Jacobian &jac, int seg_nr=-1)
int	setLockedJoints (const std::vector< bool > locked_joints)
virtual void	updateInternalDataStructures ()
virtual	~ChainJntToJacSolver ()
Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	Return the latest error. More...
	SolverI ()
	Initialize latest error to E_NOERROR. More...
virtual const char *	strError (const int error) const
virtual	~SolverI ()

Private Attributes
const Chain &	chain
std::vector< bool >	locked_joints_
Twist	t_tmp
Frame	T_tmp

Additional Inherited Members
Public Types inherited from KDL::SolverI
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 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Detailed Description

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.

Definition at line 38 of file chainjnttojacsolver.hpp.

Constructor & Destructor Documentation

ChainJntToJacSolver()

KDL::ChainJntToJacSolver::ChainJntToJacSolver ( const Chain &  chain )

explicit

Definition at line 26 of file chainjnttojacsolver.cpp.

~ChainJntToJacSolver()

KDL::ChainJntToJacSolver::~ChainJntToJacSolver ( )

virtual

Definition at line 34 of file chainjnttojacsolver.cpp.

Member Function Documentation

JntToJac()

int KDL::ChainJntToJacSolver::JntToJac ( const JntArray &  q_in, Jacobian &  jac, int  seg_nr = -1  )

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

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.

setLockedJoints()

int KDL::ChainJntToJacSolver::setLockedJoints

(

const std::vector< bool >

locked_joints

)

Parameters

locked_joints

new values for locked joints

Returns

success/error code

Definition at line 38 of file chainjnttojacsolver.cpp.

updateInternalDataStructures()

void KDL::ChainJntToJacSolver::updateInternalDataStructures ( )

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.

Member Data Documentation

chain

const Chain& KDL::ChainJntToJacSolver::chain

private

Definition at line 68 of file chainjnttojacsolver.hpp.

locked_joints_

std::vector<bool> KDL::ChainJntToJacSolver::locked_joints_

private

Definition at line 71 of file chainjnttojacsolver.hpp.

t_tmp

Twist KDL::ChainJntToJacSolver::t_tmp

private

Definition at line 69 of file chainjnttojacsolver.hpp.

T_tmp

Frame KDL::ChainJntToJacSolver::T_tmp

private

Definition at line 70 of file chainjnttojacsolver.hpp.

---

The documentation for this class was generated from the following files:

• chainjnttojacsolver.hpp
• chainjnttojacsolver.cpp