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Published 20 hours ago • verified publisher icon orocos

Is it possible to request an intermediate Jacobian with KDL::ChainJntToJacSolver?

Open cadojo opened this issue 4 years ago • 1 comments

Question

Assume a 7DOF serial manipulator. Can KDL solvers find the Jacobian of the 4th joint with respect to the base frame, or the Jacobian of the 5th joint with respect to the base frame?

In the KDL::ChainJntToJacSolver Class Reference, I see that the function JntToJac accepts an argument called seg_nr. I'm not sure this does what I'm looking for though - I think the returned Jacobian may be the Jacobian of the tool frame with respect to the frame provided by seg_nr.

cadojo avatar Jul 03 '20 20:07 cadojo