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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_ */ |