39 lines
800 B
C++
39 lines
800 B
C++
/*
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* TreeJntToJacSolver.hpp
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*
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* Created on: Nov 27, 2008
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* Author: rubensmits
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*/
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#ifndef TREEJNTTOJACSOLVER_HPP_
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#define TREEJNTTOJACSOLVER_HPP_
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#include "tree.hpp"
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#include "jacobian.hpp"
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#include "jntarray.hpp"
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namespace KDL {
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class TreeJntToJacSolver {
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public:
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TreeJntToJacSolver(const Tree& tree);
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virtual ~TreeJntToJacSolver();
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/*
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* Calculate the jacobian for a part of the tree: from a certain segment, given by segmentname to the root.
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* The resulting jacobian is expressed in the baseframe of the tree ("root"), the reference point is in the end-segment
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*/
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int JntToJac(const JntArray& q_in, Jacobian& jac,
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const std::string& segmentname);
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private:
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KDL::Tree tree;
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};
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}//End of namespace
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#endif /* TREEJNTTOJACSOLVER_H_ */
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