KDL::TreeJntToJacSolver Class Reference

#include <treejnttojacsolver.hpp>

Public Member Functions
	TreeJntToJacSolver (const Tree &tree)
virtual	~TreeJntToJacSolver ()
int	JntToJac (const JntArray &q_in, Jacobian &jac, const std::string &segmentname)

Detailed Description

Definition at line 17 of file treejnttojacsolver.hpp.

Constructor & Destructor Documentation

TreeJntToJacSolver()

KDL::TreeJntToJacSolver::TreeJntToJacSolver

(

const Tree &

tree

)

Definition at line 16 of file treejnttojacsolver.cpp.

~TreeJntToJacSolver()

KDL::TreeJntToJacSolver::~TreeJntToJacSolver ( )

virtual

Definition at line 20 of file treejnttojacsolver.cpp.

Member Function Documentation

JntToJac()

int KDL::TreeJntToJacSolver::JntToJac	(	const JntArray &	q_in,
		Jacobian &	jac,
		const std::string &	segmentname )

Definition at line 23 of file treejnttojacsolver.cpp.

References KDL::changeBase(), KDL::Jacobian::columns(), KDL::Tree::getNrOfJoints(), KDL::Tree::getSegmentPtr(), KDL::Frame::Identity(), KDL::Frame::M, KDL::Frame::p, KDL::Twist::RefPoint(), KDL::JntArray::rows(), KDL::SetToZero(), and KDL::Jacobian::twists.

Referenced by iTaSC::Armature::updateJacobian().

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The documentation for this class was generated from the following files:

• treejnttojacsolver.hpp
• treejnttojacsolver.cpp