Public Member Functions | Static Public Attributes | 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>

Inheritance diagram for KDL::ChainJntToJacSolver:
Inheritance graph
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List of all members.

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

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 41 of file chainjnttojacsolver.hpp.


Constructor & Destructor Documentation

Jac solver failed.

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,
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

Parameters:
q_ininput joint positions
jacoutput jacobian
Returns:
always returns 0

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

Returns:
if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

Definition at line 101 of file chainjnttojacsolver.cpp.


Member Data Documentation

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.

Definition at line 71 of file chainjnttojacsolver.hpp.

Definition at line 68 of file chainjnttojacsolver.hpp.

Definition at line 69 of file chainjnttojacsolver.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Aug 26 2015 15:14:15