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>
Public Member Functions | |
ChainJntToJacSolver (const Chain &chain) | |
Jac solver failed. | |
virtual int | JntToJac (const JntArray &q_in, Jacobian &jac, int segmentNR=-1) |
int | setLockedJoints (const std::vector< bool > locked_joints) |
virtual const char * | strError (const int error) const |
virtual | ~ChainJntToJacSolver () |
Static Public Attributes | |
static const int | E_JAC_FAILED = -100 |
Private Attributes | |
const Chain | chain |
std::vector< bool > | locked_joints_ |
unsigned int | nr_of_unlocked_joints_ |
Twist | t_tmp |
Frame | T_tmp |
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 41 of file chainjnttojacsolver.hpp.
KDL::ChainJntToJacSolver::ChainJntToJacSolver | ( | const Chain & | chain | ) | [explicit] |
Jac solver failed.
Definition at line 26 of file chainjnttojacsolver.cpp.
KDL::ChainJntToJacSolver::~ChainJntToJacSolver | ( | ) | [virtual] |
Definition at line 32 of file chainjnttojacsolver.cpp.
int KDL::ChainJntToJacSolver::JntToJac | ( | const JntArray & | q_in, |
Jacobian & | jac, | ||
int | segmentNR = -1 |
||
) | [virtual] |
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
q_in | input joint positions |
jac | output jacobian |
Definition at line 50 of file chainjnttojacsolver.cpp.
int KDL::ChainJntToJacSolver::setLockedJoints | ( | const std::vector< bool > | locked_joints | ) |
Definition at line 36 of file chainjnttojacsolver.cpp.
const char * KDL::ChainJntToJacSolver::strError | ( | const int | error | ) | const [virtual] |
Return a description of the latest error
Reimplemented from KDL::SolverI.
Definition at line 101 of file chainjnttojacsolver.cpp.
const Chain KDL::ChainJntToJacSolver::chain [private] |
Definition at line 67 of file chainjnttojacsolver.hpp.
const int KDL::ChainJntToJacSolver::E_JAC_FAILED = -100 [static] |
Definition at line 44 of file chainjnttojacsolver.hpp.
std::vector<bool> KDL::ChainJntToJacSolver::locked_joints_ [private] |
Definition at line 70 of file chainjnttojacsolver.hpp.
unsigned int KDL::ChainJntToJacSolver::nr_of_unlocked_joints_ [private] |
Definition at line 71 of file chainjnttojacsolver.hpp.
Twist KDL::ChainJntToJacSolver::t_tmp [private] |
Definition at line 68 of file chainjnttojacsolver.hpp.
Frame KDL::ChainJntToJacSolver::T_tmp [private] |
Definition at line 69 of file chainjnttojacsolver.hpp.