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/*
* 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_ */
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