treejnttojacsolver.hpp

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/*
 * 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:
    explicit 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_ */