get access to the jacobian of KDL::ChainIkSolverVel_pinv::CartToJnt

is it possible to get access to the jacobian which is used during the inverse velocity calculation of KDL::ChainIkSolverVel_pinv::CartToJnt?

Ruben Smits's picture

get access to the jacobian of KDL::ChainIkSolverVel_pinv::CartTo

On Wednesday 16 July 2008 15:20:10 threelight wrote:
> is it possible to get access to the jacobian which is used during the
> inverse velocity calculation of KDL::ChainIkSolverVel_pinv::CartToJnt?

No, but you can get the jacobian for the KDL::ChainJntToJacSolver. Actually
the KDL::ChainIkSolverVel_pinv uses a KDL::ChainJntToJacSolver internally.

Ruben