Public Member Functions | Private Attributes
KDL::ChainJntToJacSolver Class Reference

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>

List of all members.

Public Member Functions

 ChainJntToJacSolver (const Chain &chain)
int JntToJac (const JntArray &q_in, Jacobian &jac)
int setLockedJoints (const std::vector< bool > locked_joints)
 ~ChainJntToJacSolver ()

Private Attributes

const Chain chain
std::vector< bool > locked_joints_
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 40 of file chainjnttojacsolver.hpp.


Constructor & Destructor Documentation

Definition at line 26 of file chainjnttojacsolver.cpp.

Definition at line 32 of file chainjnttojacsolver.cpp.


Member Function Documentation

int KDL::ChainJntToJacSolver::JntToJac ( const JntArray &  q_in,
Jacobian jac 
)

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:
q_ininput joint positions
jacoutput jacobian
Returns:
always returns 0

Definition at line 48 of file chainjnttojacsolver.cpp.

int KDL::ChainJntToJacSolver::setLockedJoints ( const std::vector< bool >  locked_joints)

Definition at line 36 of file chainjnttojacsolver.cpp.


Member Data Documentation

Definition at line 60 of file chainjnttojacsolver.hpp.

std::vector<bool> KDL::ChainJntToJacSolver::locked_joints_ [private]

Definition at line 63 of file chainjnttojacsolver.hpp.

Definition at line 64 of file chainjnttojacsolver.hpp.

Definition at line 61 of file chainjnttojacsolver.hpp.

Definition at line 62 of file chainjnttojacsolver.hpp.


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


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:26