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// 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
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