1 files changed, 65 insertions, 0 deletions
diff --git a/intern/itasc/kdl/chainjnttojacsolver.hpp b/intern/itasc/kdl/chainjnttojacsolver.hpp
new file mode 100644
index 00000000000..98f9d06ee0d
--- /dev/null
+++ b/intern/itasc/kdl/chainjnttojacsolver.hpp
@@ -0,0 +1,65 @@
+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_CHAINJNTTOJACSOLVER_HPP
+#define KDL_CHAINJNTTOJACSOLVER_HPP
+
+#include "frames.hpp"
+#include "jacobian.hpp"
+#include "jntarray.hpp"
+#include "chain.hpp"
+
+namespace KDL
+{
+    /**
+     * @brief  Class to calculate the jacobian of a general
+     * KDL::Chain, it is used by other solvers. It should not be used
+     * outside of KDL.
+     *
+     *
+     */
+
+    class ChainJntToJacSolver
+    {
+    public:
+        ChainJntToJacSolver(const Chain& chain);
+        ~ChainJntToJacSolver();
+        /**
+         * 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
+         *
+         * @param q_in input joint positions
+         * @param jac output jacobian
+         *
+         * @return always returns 0
+         */
+        int JntToJac(const JntArray& q_in,Jacobian& jac);
+
+    private:
+        const Chain chain;
+        Twist t_local;
+        Frame T_total;
+    };
+}
+#endif
+