forked from bartvdbraak/blender
39 lines
800 B
C++
39 lines
800 B
C++
/*
|
|
* 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_ */
|