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

Submitted by threelight on Wed, 2008-07-16 13:20

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

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Ruben Smits's picture

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

Submitted by Ruben Smits on Wed, 2008-07-16 13:50.

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

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