22 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP
23 #define KDL_CHAINJNTTOJACSOLVER_HPP
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:39
virtual ~ChainJntToJacSolver()
Definition: chainjnttojacsolver.cpp:34
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int seg_nr=-1)
Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effe...
Definition: chainjnttojacsolver.cpp:48
const Chain & chain
Definition: chainjnttojacsolver.hpp:68
int setLockedJoints(const std::vector< bool > locked_joints)
Definition: chainjnttojacsolver.cpp:38
std::vector< bool > locked_joints_
Definition: chainjnttojacsolver.hpp:71
Frame T_tmp
Definition: chainjnttojacsolver.hpp:70
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainjnttojacsolver.cpp:31
ChainJntToJacSolver(const Chain &chain)
Definition: chainjnttojacsolver.cpp:26
Twist t_tmp
Definition: chainjnttojacsolver.hpp:69
Definition: frames.hpp:570
Definition: jacobian.hpp:37
Definition: jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26