KDL  1.3.0
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 "solveri.hpp"
26 #include "frames.hpp"
27 #include "jacobian.hpp"
28 #include "jntarray.hpp"
29 #include "chain.hpp"
30 
31 namespace KDL
32 {
42  {
43  public:
44  static const int E_JAC_FAILED = -100;
45 
46  explicit ChainJntToJacSolver(const Chain& chain);
47  virtual ~ChainJntToJacSolver();
59  virtual int JntToJac(const JntArray& q_in, Jacobian& jac, int segmentNR=-1);
60 
61  int setLockedJoints(const std::vector<bool> locked_joints);
62 
64  virtual const char* strError(const int error) const;
65 
66  private:
67  const Chain chain;
70  std::vector<bool> locked_joints_;
71  unsigned int nr_of_unlocked_joints_;
72  };
73 }
74 #endif
75 
const Chain chain
Definition: chainjnttojacsolver.hpp:67
Frame T_tmp
Definition: chainjnttojacsolver.hpp:69
Definition: jacobian.hpp:35
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:84
unsigned int nr_of_unlocked_joints_
Definition: chainjnttojacsolver.hpp:71
std::vector< bool > locked_joints_
Definition: chainjnttojacsolver.hpp:70
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainjnttojacsolver.cpp:101
represents both translational and rotational velocities.
Definition: frames.hpp:720
int setLockedJoints(const std::vector< bool > locked_joints)
Definition: chainjnttojacsolver.cpp:36
Definition: articulatedbodyinertia.cpp:28
static const int E_JAC_FAILED
Definition: chainjnttojacsolver.hpp:44
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int segmentNR=-1)
Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effe...
Definition: chainjnttojacsolver.cpp:50
Twist t_tmp
Definition: chainjnttojacsolver.hpp:68
virtual ~ChainJntToJacSolver()
Definition: chainjnttojacsolver.cpp:32
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
ChainJntToJacSolver(const Chain &chain)
Jac solver failed.
Definition: chainjnttojacsolver.cpp:26
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:122