Blender  V3.3
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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>

Public Member Functions

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

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.

Constructor & Destructor Documentation

◆ ChainJntToJacSolver()

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

Definition at line 29 of file chainjnttojacsolver.cpp.

◆ ~ChainJntToJacSolver()

KDL::ChainJntToJacSolver::~ChainJntToJacSolver ( )

Definition at line 34 of file chainjnttojacsolver.cpp.

Member Function Documentation

◆ JntToJac()

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_ininput joint positions
jacoutput jacobian
Returns
always returns 0

Definition at line 38 of file chainjnttojacsolver.cpp.

References KDL::changeBase(), KDL::Jacobian::columns(), KDL::Chain::getNrOfJoints(), KDL::Chain::getNrOfSegments(), KDL::Chain::getSegment(), KDL::Frame::Identity(), KDL::Frame::M, KDL::Frame::p, KDL::Twist::RefPoint(), KDL::JntArray::rows(), KDL::SetToZero(), and KDL::Jacobian::twists.

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


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