Blender  V3.3
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 "frames.hpp"
26 #include "jacobian.hpp"
27 #include "jntarray.hpp"
28 #include "chain.hpp"
29 
30 namespace KDL
31 {
41  {
42  public:
43  ChainJntToJacSolver(const Chain& chain);
56  int JntToJac(const JntArray& q_in,Jacobian& jac);
57 
58  private:
59  const Chain chain;
60  Twist t_local;
61  Frame T_total;
62  };
63 }
64 #endif
65 
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers....
ChainJntToJacSolver(const Chain &chain)
int JntToJac(const JntArray &q_in, Jacobian &jac)
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
Definition: chain.hpp:36
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:526
represents both translational and rotational velocities.
Definition: frames.hpp:679
Definition: chain.cpp:27