chainjnttojacsolver.hpp

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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
{
 
    class ChainJntToJacSolver
    {
    public:
        ChainJntToJacSolver(const Chain& chain);
        ~ChainJntToJacSolver();
        int JntToJac(const JntArray& q_in,Jacobian& jac);
 
    private:
        const Chain chain;
        Twist t_local;
        Frame T_total;
    };
}
#endif