KDL::ChainJntToJacSolver Class Reference

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. More...

#include <chainjnttojacsolver.hpp>

Inheritance diagram for KDL::ChainJntToJacSolver:

Public Member Functions
	ChainJntToJacSolver (const Chain &chain)
virtual	~ChainJntToJacSolver ()
virtual int	JntToJac (const JntArray &q_in, Jacobian &jac, int seg_nr=-1)
int	setLockedJoints (const std::vector< bool > locked_joints)
virtual void	updateInternalDataStructures ()
Public Member Functions inherited from KDL::SolverI
	SolverI ()
	Initialize latest error to E_NOERROR.
virtual	~SolverI ()
virtual int	getError () const
	Return the latest error.
virtual const char *	strError (const int error) const

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{   E_DEGRADED = +1 , E_NOERROR = 0 , E_NO_CONVERGE = -1 , E_UNDEFINED = -2 ,   E_NOT_UP_TO_DATE = -3 , E_SIZE_MISMATCH = -4 , E_MAX_ITERATIONS_EXCEEDED = -5 , E_OUT_OF_RANGE = -6 ,   E_NOT_IMPLEMENTED = -7 , E_SVD_FAILED = -8 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor.

Detailed Description

Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.

Constructor & Destructor Documentation

ChainJntToJacSolver()

KDL::ChainJntToJacSolver::ChainJntToJacSolver ( const Chain & chain )

explicit

~ChainJntToJacSolver()

virtual KDL::ChainJntToJacSolver::~ChainJntToJacSolver ( )

virtual

Member Function Documentation

JntToJac()

virtual int KDL::ChainJntToJacSolver::JntToJac ( const JntArray & q_in, Jacobian & jac, int seg_nr = -1 )

virtual

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

Parameters

q_in	input joint positions
jac	output jacobian
seg_nr	The final segment to compute

Returns

success/error code

setLockedJoints()

int KDL::ChainJntToJacSolver::setLockedJoints

(

const std::vector< bool >

locked_joints

)

Parameters

locked_joints

new values for locked joints

Returns

success/error code

updateInternalDataStructures()

virtual void KDL::ChainJntToJacSolver::updateInternalDataStructures ( )

virtual

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.

---

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

• build/orocos_kdl_install/include/kdl/chainjnttojacsolver.hpp