orocos_kdl
src
treejnttojacsolver.hpp
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/*
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* TreeJntToJacSolver.hpp
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*
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* Created on: Nov 27, 2008
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* Author: rubensmits
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*/
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#ifndef TREEJNTTOJACSOLVER_HPP_
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#define TREEJNTTOJACSOLVER_HPP_
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#include "
tree.hpp
"
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#include "
jacobian.hpp
"
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#include "
jntarray.hpp
"
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namespace
KDL
{
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class
TreeJntToJacSolver
{
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public
:
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explicit
TreeJntToJacSolver
(
const
Tree
&
tree
);
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virtual
~TreeJntToJacSolver
();
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/*
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* Calculate the jacobian for a part of the tree: from a certain segment, given by segmentname to the root.
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* The resulting jacobian is expressed in the baseframe of the tree ("root"), the reference point is in the end-segment
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*/
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int
JntToJac
(
const
JntArray
& q_in,
Jacobian
& jac,
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const
std::string
& segmentname);
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private
:
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KDL::Tree
tree
;
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};
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}
//End of namespace
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#endif
/* TREEJNTTOJACSOLVER_H_ */
std::string
KDL::JntArray
Definition:
jntarray.hpp:69
KDL::TreeJntToJacSolver::tree
KDL::Tree tree
Definition:
treejnttojacsolver.hpp:32
jntarray.hpp
KDL::TreeJntToJacSolver::JntToJac
int JntToJac(const JntArray &q_in, Jacobian &jac, const std::string &segmentname)
Definition:
treejnttojacsolver.cpp:21
KDL
Definition:
kukaLWR_DHnew.cpp:25
tree.hpp
KDL::TreeJntToJacSolver::~TreeJntToJacSolver
virtual ~TreeJntToJacSolver()
Definition:
treejnttojacsolver.cpp:18
KDL::Tree
This class encapsulates a tree kinematic interconnection structure. It is built out of segments.
Definition:
tree.hpp:99
jacobian.hpp
KDL::TreeJntToJacSolver
Definition:
treejnttojacsolver.hpp:17
KDL::TreeJntToJacSolver::TreeJntToJacSolver
TreeJntToJacSolver(const Tree &tree)
Definition:
treejnttojacsolver.cpp:14
KDL::Jacobian
Definition:
jacobian.hpp:36
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