diff options
author | Benoit Bolsee <benoit.bolsee@online.be> | 2009-09-25 01:22:24 +0400 |
---|---|---|
committer | Benoit Bolsee <benoit.bolsee@online.be> | 2009-09-25 01:22:24 +0400 |
commit | 1483fafd1372a3d3e025d08634e798adb7da512f (patch) | |
tree | 9191765749e29866339f4c31d892603f5f8b334d /intern/itasc/kdl/treejnttojacsolver.hpp | |
parent | c995c605f640d8d688e6e58e0fe247ca83f91696 (diff) | |
parent | 222fe6b1a5d49f67177cbb762f55a0e482145f5d (diff) |
Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.
Diffstat (limited to 'intern/itasc/kdl/treejnttojacsolver.hpp')
-rw-r--r-- | intern/itasc/kdl/treejnttojacsolver.hpp | 38 |
1 files changed, 38 insertions, 0 deletions
diff --git a/intern/itasc/kdl/treejnttojacsolver.hpp b/intern/itasc/kdl/treejnttojacsolver.hpp new file mode 100644 index 00000000000..40977dcd577 --- /dev/null +++ b/intern/itasc/kdl/treejnttojacsolver.hpp @@ -0,0 +1,38 @@ +/* + * TreeJntToJacSolver.hpp + * + * Created on: Nov 27, 2008 + * Author: rubensmits + */ + +#ifndef TREEJNTTOJACSOLVER_HPP_ +#define TREEJNTTOJACSOLVER_HPP_ + +#include "tree.hpp" +#include "jacobian.hpp" +#include "jntarray.hpp" + +namespace KDL { + +class TreeJntToJacSolver { +public: + TreeJntToJacSolver(const Tree& tree); + + virtual ~TreeJntToJacSolver(); + + /* + * Calculate the jacobian for a part of the tree: from a certain segment, given by segmentname to the root. + * The resulting jacobian is expressed in the baseframe of the tree ("root"), the reference point is in the end-segment + */ + + int JntToJac(const JntArray& q_in, Jacobian& jac, + const std::string& segmentname); + +private: + KDL::Tree tree; + +}; + +}//End of namespace + +#endif /* TREEJNTTOJACSOLVER_H_ */ |