22 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP 23 #define KDL_CHAINJNTTOJACSOLVER_HPP Frame T_tmp
Definition: chainjnttojacsolver.hpp:73
Definition: jacobian.hpp:36
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
std::vector< bool > locked_joints_
Definition: chainjnttojacsolver.hpp:74
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
represents both translational and rotational velocities.
Definition: frames.hpp:720
int setLockedJoints(const std::vector< bool > locked_joints)
Definition: chainjnttojacsolver.cpp:38
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainjnttojacsolver.cpp:31
Definition: articulatedbodyinertia.cpp:28
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:48
Twist t_tmp
Definition: chainjnttojacsolver.hpp:72
virtual ~ChainJntToJacSolver()
Definition: chainjnttojacsolver.cpp:34
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
ChainJntToJacSolver(const Chain &chain)
Definition: chainjnttojacsolver.cpp:26
const Chain & chain
Definition: chainjnttojacsolver.hpp:71