KDL 1.5.1
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treejnttojacsolver.hpp
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1/*
2 * TreeJntToJacSolver.hpp
3 *
4 * Created on: Nov 27, 2008
5 * Author: rubensmits
6 */
7
8#ifndef TREEJNTTOJACSOLVER_HPP_
9#define TREEJNTTOJACSOLVER_HPP_
10
11#include "tree.hpp"
12#include "jacobian.hpp"
13#include "jntarray.hpp"
14
15namespace KDL {
16
18public:
19 explicit TreeJntToJacSolver(const Tree& tree);
20
21 virtual ~TreeJntToJacSolver();
22
23 /*
24 * Calculate the jacobian for a part of the tree: from a certain segment, given by segmentname to the root.
25 * The resulting jacobian is expressed in the baseframe of the tree ("root"), the reference point is in the end-segment
26 */
27
28 int JntToJac(const JntArray& q_in, Jacobian& jac,
29 const std::string& segmentname);
30
31private:
33
34};
35
36}//End of namespace
37
38#endif /* TREEJNTTOJACSOLVER_H_ */
Definition jacobian.hpp:37
Definition jntarray.hpp:70
Definition treejnttojacsolver.hpp:17
TreeJntToJacSolver(const Tree &tree)
Definition treejnttojacsolver.cpp:14
int JntToJac(const JntArray &q_in, Jacobian &jac, const std::string &segmentname)
Definition treejnttojacsolver.cpp:21
virtual ~TreeJntToJacSolver()
Definition treejnttojacsolver.cpp:18
KDL::Tree tree
Definition treejnttojacsolver.hpp:32
This class encapsulates a tree kinematic interconnection structure.
Definition tree.hpp:100
Definition articulatedbodyinertia.cpp:26