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22 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP
23 #define KDL_CHAINJNTTOJACSOLVER_HPP
ChainJntToJacSolver(const Chain &chain)
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int seg_nr=-1)
represents both translational and rotational velocities.
virtual ~ChainJntToJacSolver()
int setLockedJoints(const std::vector< bool > locked_joints)
represents a frame transformation in 3D space (rotation + translation)
virtual void updateInternalDataStructures()
std::vector< bool > locked_joints_
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.