KDL  1.3.0
Public Types | Public Member Functions | Static Public Attributes | Protected Attributes | Private Attributes | List of all members
KDL::ChainJntToJacSolver Class Reference

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. More...

#include <src/chainjnttojacsolver.hpp>

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Public Types

enum  { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2 }
 

Public Member Functions

 ChainJntToJacSolver (const Chain &chain)
 Jac solver failed. More...
 
virtual ~ChainJntToJacSolver ()
 
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 effector of the *chain. More...
 
int setLockedJoints (const std::vector< bool > locked_joints)
 
virtual const char * strError (const int error) const
 Return a description of the latest error. More...
 
virtual int getError () const
 Return the latest error. More...
 

Static Public Attributes

static const int E_JAC_FAILED = -100
 

Protected Attributes

int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Private Attributes

const Chain chain
 
Twist t_tmp
 
Frame T_tmp
 
std::vector< bool > locked_joints_
 
unsigned int nr_of_unlocked_joints_
 

Detailed Description

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.

It should not be used outside of KDL.

Member Enumeration Documentation

§ anonymous enum

anonymous enum
inherited
Enumerator
E_DEGRADED 

Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)

E_NOERROR 

No error.

E_NO_CONVERGE 

Failed to converge.

E_UNDEFINED 

Undefined value (e.g. computed a NAN, or tan(90 degrees) )

Constructor & Destructor Documentation

§ ChainJntToJacSolver()

KDL::ChainJntToJacSolver::ChainJntToJacSolver ( const Chain chain)
explicit

Jac solver failed.

§ ~ChainJntToJacSolver()

KDL::ChainJntToJacSolver::~ChainJntToJacSolver ( )
virtual

Member Function Documentation

§ getError()

virtual int KDL::SolverI::getError ( ) const
inlinevirtualinherited

Return the latest error.

References KDL::SolverI::error.

§ JntToJac()

int KDL::ChainJntToJacSolver::JntToJac ( const JntArray q_in,
Jacobian jac,
int  segmentNR = -1 
)
virtual

§ setLockedJoints()

int KDL::ChainJntToJacSolver::setLockedJoints ( const std::vector< bool >  locked_joints)

§ strError()

const char * KDL::ChainJntToJacSolver::strError ( const int  error) const
virtual

Return a description of the latest error.

Returns
if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

References E_JAC_FAILED, and KDL::SolverI::strError().

Member Data Documentation

§ chain

const Chain KDL::ChainJntToJacSolver::chain
private

Referenced by JntToJac().

§ E_JAC_FAILED

const int KDL::ChainJntToJacSolver::E_JAC_FAILED = -100
static

Referenced by JntToJac(), and strError().

§ error

int KDL::SolverI::error
protectedinherited

§ locked_joints_

std::vector<bool> KDL::ChainJntToJacSolver::locked_joints_
private

Referenced by JntToJac(), and setLockedJoints().

§ nr_of_unlocked_joints_

unsigned int KDL::ChainJntToJacSolver::nr_of_unlocked_joints_
private

Referenced by JntToJac(), and setLockedJoints().

§ t_tmp

Twist KDL::ChainJntToJacSolver::t_tmp
private

Referenced by JntToJac().

§ T_tmp

Frame KDL::ChainJntToJacSolver::T_tmp
private

Referenced by JntToJac().


The documentation for this class was generated from the following files: