75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_CHAINJNTTOJACSOLVER_HPP
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#define KDL_CHAINJNTTOJACSOLVER_HPP
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#include "solveri.hpp"
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#include "frames.hpp"
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#include "jacobian.hpp"
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#include "jntarray.hpp"
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#include "chain.hpp"
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namespace KDL
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{
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/**
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* @brief Class to calculate the jacobian of a general
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* KDL::Chain, it is used by other solvers.
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*/
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class ChainJntToJacSolver : public SolverI
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{
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public:
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explicit ChainJntToJacSolver(const Chain& chain);
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virtual ~ChainJntToJacSolver();
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/**
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* Calculate the jacobian expressed in the base frame of the
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* chain, with reference point at the end effector of the
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* *chain. The algorithm is similar to the one used in
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* KDL::ChainFkSolverVel_recursive
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*
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* @param q_in input joint positions
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* @param jac output jacobian
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* @param seg_nr The final segment to compute
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* @return success/error code
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*/
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virtual int JntToJac(const JntArray& q_in, Jacobian& jac, int seg_nr=-1);
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/**
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*
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* @param locked_joints new values for locked joints
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* @return success/error code
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*/
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int setLockedJoints(const std::vector<bool> locked_joints);
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/// @copydoc KDL::SolverI::updateInternalDataStructures
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virtual void updateInternalDataStructures();
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private:
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const Chain& chain;
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Twist t_tmp;
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Frame T_tmp;
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std::vector<bool> locked_joints_;
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};
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}
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#endif
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