treejnttojacsolver.hpp

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00001 /*
00002  * TreeJntToJacSolver.hpp
00003  *
00004  *  Created on: Nov 27, 2008
00005  *      Author: rubensmits
00006  */
00007 
00008 #ifndef TREEJNTTOJACSOLVER_HPP_
00009 #define TREEJNTTOJACSOLVER_HPP_
00010 
00011 #include "tree.hpp"
00012 #include "jacobian.hpp"
00013 #include "jntarray.hpp"
00014 
00015 namespace KDL {
00016 
00017 class TreeJntToJacSolver {
00018 public:
00019     TreeJntToJacSolver(const Tree& tree);
00020 
00021     virtual ~TreeJntToJacSolver();
00022 
00023     /*
00024      * Calculate the jacobian for a part of the tree: from a certain segment, given by segmentname to the root.
00025      * The resulting jacobian is expressed in the baseframe of the tree ("root"), the reference point is in the end-segment
00026      */
00027 
00028     int JntToJac(const JntArray& q_in, Jacobian& jac,
00029             const std::string& segmentname);
00030 
00031 private:
00032     KDL::Tree tree;
00033 
00034 };
00035 
00036 }//End of namespace
00037 
00038 #endif /* TREEJNTTOJACSOLVER_H_ */