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) | |
| 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 Chain & | chain |
| 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
| KDL::ChainJntToJacSolver::ChainJntToJacSolver | ( | const Chain & | chain | ) | [explicit] |
Definition at line 26 of file chainjnttojacsolver.cpp.
| KDL::ChainJntToJacSolver::~ChainJntToJacSolver | ( | ) | [virtual] |
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_in input joint positions jac output 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_joints new values for locked joints
- Returns:
- success/error code
Definition at line 38 of file chainjnttojacsolver.cpp.
| void KDL::ChainJntToJacSolver::updateInternalDataStructures | ( | ) | [virtual] |
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
const Chain& KDL::ChainJntToJacSolver::chain [private] |
Definition at line 71 of file chainjnttojacsolver.hpp.
std::vector<bool> KDL::ChainJntToJacSolver::locked_joints_ [private] |
Definition at line 74 of file chainjnttojacsolver.hpp.
Twist KDL::ChainJntToJacSolver::t_tmp [private] |
Definition at line 72 of file chainjnttojacsolver.hpp.
Frame KDL::ChainJntToJacSolver::T_tmp [private] |
Definition at line 73 of file chainjnttojacsolver.hpp.
The documentation for this class was generated from the following files: