chainjnttojacsolver.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP
23 #define KDL_CHAINJNTTOJACSOLVER_HPP
24 
25 #include "solveri.hpp"
26 #include "frames.hpp"
27 #include "jacobian.hpp"
28 #include "jntarray.hpp"
29 #include "chain.hpp"
30 
31 namespace KDL
32 {
42  {
43  public:
44 
45  explicit ChainJntToJacSolver(const Chain& chain);
46  virtual ~ChainJntToJacSolver();
58  virtual int JntToJac(const JntArray& q_in, Jacobian& jac, int seg_nr=-1);
59 
65  int setLockedJoints(const std::vector<bool> locked_joints);
66 
68  virtual void updateInternalDataStructures();
69 
70  private:
71  const Chain& chain;
74  std::vector<bool> locked_joints_;
75  };
76 }
77 #endif
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::vector< bool > locked_joints_
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. It should not be used outside of KDL.
represents both translational and rotational velocities.
Definition: frames.hpp:720
int setLockedJoints(const std::vector< bool > locked_joints)
virtual void updateInternalDataStructures()
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
ChainJntToJacSolver(const Chain &chain)
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int seg_nr=-1)


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51