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27 chain(_chain),locked_joints_(chain.getNrOfJoints(),false)
52 unsigned int segmentNr;
71 for (
unsigned int i=0;i<segmentNr;i++) {
ChainJntToJacSolver(const Chain &chain)
unsigned int columns() const
void setColumn(unsigned int i, const Twist &t)
const Joint & getJoint() const
Vector p
origine of the Frame
@ E_NOT_UP_TO_DATE
Chain size changed.
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int seg_nr=-1)
unsigned int getNrOfSegments() const
@ E_OUT_OF_RANGE
Requested index out of range.
unsigned int rows() const
const Segment & getSegment(unsigned int nr) const
@ E_SIZE_MISMATCH
Input size does not match internal state.
virtual ~ChainJntToJacSolver()
Frame pose(const double &q) const
int setLockedJoints(const std::vector< bool > locked_joints)
represents a frame transformation in 3D space (rotation + translation)
Twist twist(const double &q, const double &qdot) const
virtual void updateInternalDataStructures()
std::vector< bool > locked_joints_
Rotation M
Orientation of the Frame.
bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
const JointType & getType() const
void SetToZero(Jacobian &jac)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
unsigned int getNrOfJoints() const
int error
Latest error, initialized to E_NOERROR in constructor.