22 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP
23 #define KDL_CHAINJNTTOJACSOLVER_HPP
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
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
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainjnttojacsolver.cpp:101
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:122