KDL::ChainJntToJacSolver Class Reference

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. It should not be used outside of KDL. More...

#include <chainjnttojacsolver.hpp>

List of all members.

Public Member Functions
	ChainJntToJacSolver (const Chain &chain)
	~ChainJntToJacSolver ()
int	JntToJac (const JntArray &q_in, Jacobian &jac)

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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.

Definition at line 40 of file chainjnttojacsolver.hpp.

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Constructor & Destructor Documentation

KDL::ChainJntToJacSolver::ChainJntToJacSolver

(

const Chain &

chain

)

Definition at line 29 of file chainjnttojacsolver.cpp.

KDL::ChainJntToJacSolver::~ChainJntToJacSolver

(

)

Definition at line 34 of file chainjnttojacsolver.cpp.

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Member Function Documentation

int KDL::ChainJntToJacSolver::JntToJac	(	const JntArray &	q_in,
		Jacobian &	jac
	)

Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effector of the *chain. The alghoritm is similar to the one used in KDL::ChainFkSolverVel_recursive

Parameters:

q_in	input joint positions
jac	output jacobian

Returns:

always returns 0

Definition at line 38 of file chainjnttojacsolver.cpp.

References assert, KDL::changeBase(), KDL::Jacobian::columns(), KDL::Segment::getFrameToTip(), KDL::Segment::getJoint(), KDL::Joint::getNDof(), KDL::Chain::getNrOfJoints(), KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), i, KDL::Frame::Identity(), KDL::Frame::M, KDL::Frame::p, KDL::Joint::pose(), KDL::Twist::RefPoint(), KDL::JntArray::rows(), KDL::SetToZero(), KDL::Segment::twist(), and KDL::Jacobian::twists.

Referenced by iTaSC::Distance::updateJacobian().

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

• chainjnttojacsolver.hpp
• chainjnttojacsolver.cpp