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Diffstat (limited to 'intern/itasc/kdl/chainjnttojacsolver.hpp')
-rw-r--r-- | intern/itasc/kdl/chainjnttojacsolver.hpp | 65 |
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 + |