chainjnttojacsolver.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP
00023 #define KDL_CHAINJNTTOJACSOLVER_HPP
00024 
00025 #include "solveri.hpp"
00026 #include "frames.hpp"
00027 #include "jacobian.hpp"
00028 #include "jntarray.hpp"
00029 #include "chain.hpp"
00030 
00031 namespace KDL
00032 {
00041     class ChainJntToJacSolver : public SolverI
00042     {
00043     public:
00044 
00045         explicit ChainJntToJacSolver(const Chain& chain);
00046         virtual ~ChainJntToJacSolver();
00058         virtual int JntToJac(const JntArray& q_in, Jacobian& jac, int segmentNR=-1);
00059 
00065         int setLockedJoints(const std::vector<bool> locked_joints);
00066 
00068         virtual void updateInternalDataStructures();
00069 
00070     private:
00071         const Chain& chain;
00072         Twist t_tmp;
00073         Frame T_tmp;
00074         std::vector<bool> locked_joints_;
00075     };
00076 }
00077 #endif


orocos_kdl
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autogenerated on Wed Mar 6 2019 03:36:13