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>

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

Public Member Functions

 ChainJntToJacSolver (const Chain &chain)
virtual int JntToJac (const JntArray &q_in, Jacobian &jac, int segmentNR=-1)
int setLockedJoints (const std::vector< bool > locked_joints)
virtual void updateInternalDataStructures ()
virtual ~ChainJntToJacSolver ()

Private Attributes

const Chainchain
std::vector< bool > locked_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

Definition at line 26 of file chainjnttojacsolver.cpp.

Definition at line 34 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 algorithm is similar to the one used in KDL::ChainFkSolverVel_recursive

Parameters:
q_ininput joint positions
jacoutput jacobian
Returns:
success/error code

Definition at line 48 of file chainjnttojacsolver.cpp.

int KDL::ChainJntToJacSolver::setLockedJoints ( const std::vector< bool >  locked_joints)
Parameters:
locked_jointsnew values for locked joints
Returns:
success/error code

Definition at line 38 of file chainjnttojacsolver.cpp.

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

Definition at line 71 of file chainjnttojacsolver.hpp.

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

Definition at line 74 of file chainjnttojacsolver.hpp.

Definition at line 72 of file chainjnttojacsolver.hpp.

Definition at line 73 of file chainjnttojacsolver.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:36:13