KDL
1.4.0
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#include <src/jacobian.hpp>
Public Member Functions | |
Jacobian () | |
Jacobian (unsigned int nr_of_columns) | |
Jacobian (const Jacobian &arg) | |
void | resize (unsigned int newNrOfColumns) |
Allocates memory for new size (can break realtime behavior) More... | |
Jacobian & | operator= (const Jacobian &arg) |
Allocates memory if size of this and argument is different. More... | |
bool | operator== (const Jacobian &arg) const |
bool | operator!= (const Jacobian &arg) const |
~Jacobian () | |
double | operator() (unsigned int i, unsigned int j) const |
double & | operator() (unsigned int i, unsigned int j) |
unsigned int | rows () const |
unsigned int | columns () const |
Twist | getColumn (unsigned int i) const |
void | setColumn (unsigned int i, const Twist &t) |
void | changeRefPoint (const Vector &base_AB) |
void | changeBase (const Rotation &rot) |
void | changeRefFrame (const Frame &frame) |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > | data |
Friends | |
bool | Equal (const Jacobian &a, const Jacobian &b, double eps) |
void | SetToZero (Jacobian &jac) |
bool | changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest) |
bool | changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest) |
bool | changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest) |
KDL::Jacobian::Jacobian | ( | ) |
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explicit |
KDL::Jacobian::Jacobian | ( | const Jacobian & | arg | ) |
KDL::Jacobian::~Jacobian | ( | ) |
void KDL::Jacobian::changeBase | ( | const Rotation & | rot | ) |
References data, getColumn(), and setColumn().
void KDL::Jacobian::changeRefFrame | ( | const Frame & | frame | ) |
References data, getColumn(), and setColumn().
void KDL::Jacobian::changeRefPoint | ( | const Vector & | base_AB | ) |
References data, getColumn(), KDL::Twist::RefPoint(), and setColumn().
unsigned int KDL::Jacobian::columns | ( | ) | const |
References data.
Referenced by KDL::ChainIdSolver_Vereshchagin::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::changeBase(), KDL::changeRefFrame(), KDL::changeRefPoint(), KDL::Equal(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), and KDL::operator<<().
Twist KDL::Jacobian::getColumn | ( | unsigned int | i | ) | const |
References data.
Referenced by changeBase(), KDL::changeBase(), changeRefFrame(), KDL::changeRefFrame(), changeRefPoint(), KDL::changeRefPoint(), KDL::ChainJntToJacDotSolver::getPartialDerivativeBodyFixed(), KDL::ChainJntToJacDotSolver::getPartialDerivativeHybrid(), and KDL::ChainJntToJacDotSolver::getPartialDerivativeInertial().
double KDL::Jacobian::operator() | ( | unsigned int | i, |
unsigned int | j | ||
) | const |
References data.
double & KDL::Jacobian::operator() | ( | unsigned int | i, |
unsigned int | j | ||
) |
References data.
Allocates memory if size of this and argument is different.
References data.
void KDL::Jacobian::resize | ( | unsigned int | newNrOfColumns | ) |
Allocates memory for new size (can break realtime behavior)
References data.
Referenced by KDL::ChainIkSolverVel_pinv_givens::updateInternalDataStructures(), KDL::ChainIkSolverVel_pinv::updateInternalDataStructures(), KDL::ChainJntToJacDotSolver::updateInternalDataStructures(), KDL::ChainIkSolverVel_pinv_nso::updateInternalDataStructures(), and KDL::ChainIkSolverVel_wdls::updateInternalDataStructures().
unsigned int KDL::Jacobian::rows | ( | ) | const |
References data.
Referenced by KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::Equal(), and KDL::operator<<().
void KDL::Jacobian::setColumn | ( | unsigned int | i, |
const Twist & | t | ||
) |
References data, KDL::Vector::data, KDL::Twist::rot, and KDL::Twist::vel.
Referenced by changeBase(), KDL::changeBase(), changeRefFrame(), KDL::changeRefFrame(), changeRefPoint(), KDL::changeRefPoint(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::ChainJntToJacDotSolver::JntToJacDot().
Referenced by KDL::ChainJntToJacDotSolver::JntToJacDot().
Referenced by KDL::ChainJntToJacDotSolver::JntToJacDot().
Referenced by operator!=(), and operator==().
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friend |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix<double,6,Eigen::Dynamic> KDL::Jacobian::data |