KDL
1.4.0
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This class represents an fixed size array containing joint values of a KDL::Chain. More...
#include <src/jntarray.hpp>
Public Member Functions | |
JntArray () | |
Construct with no data array. More... | |
JntArray (unsigned int size) | |
Constructor of the joint array. More... | |
JntArray (const JntArray &arg) | |
Copy constructor. More... | |
~JntArray () | |
void | resize (unsigned int newSize) |
Resize the array. More... | |
JntArray & | operator= (const JntArray &arg) |
double | operator() (unsigned int i, unsigned int j=0) const |
get_item operator for the joint array, if a second value is given it should be zero, since a JntArray resembles a column. More... | |
double & | operator() (unsigned int i, unsigned int j=0) |
set_item operator, again if a second value is given it should be zero. More... | |
unsigned int | rows () const |
Returns the number of rows (size) of the array. More... | |
unsigned int | columns () const |
Returns the number of columns of the array, always 1. More... | |
Public Attributes | |
Eigen::VectorXd | data |
Friends | |
void | Add (const JntArray &src1, const JntArray &src2, JntArray &dest) |
Function to add two joint arrays, all the arguments must have the same size: A + B = C. More... | |
void | Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest) |
Function to subtract two joint arrays, all the arguments must have the same size: A - B = C. More... | |
void | Multiply (const JntArray &src, const double &factor, JntArray &dest) |
Function to multiply all the array values with a scalar factor: A*b=C. More... | |
void | Divide (const JntArray &src, const double &factor, JntArray &dest) |
Function to divide all the array values with a scalar factor: A/b=C. More... | |
void | MultiplyJacobian (const Jacobian &jac, const JntArray &src, Twist &dest) |
Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose. More... | |
void | SetToZero (JntArray &array) |
Function to set all the values of the array to 0. More... | |
bool | Equal (const JntArray &src1, const JntArray &src2, double eps) |
Function to check if two arrays are the same with a precision of eps. More... | |
bool | operator== (const JntArray &src1, const JntArray &src2) |
This class represents an fixed size array containing joint values of a KDL::Chain.
KDL::JntArray::JntArray | ( | ) |
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explicit |
KDL::JntArray::JntArray | ( | const JntArray & | arg | ) |
Copy constructor.
KDL::JntArray::~JntArray | ( | ) |
unsigned int KDL::JntArray::columns | ( | ) | const |
Returns the number of columns of the array, always 1.
References data.
double KDL::JntArray::operator() | ( | unsigned int | i, |
unsigned int | j = 0 |
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) | const |
double & KDL::JntArray::operator() | ( | unsigned int | i, |
unsigned int | j = 0 |
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) |
void KDL::JntArray::resize | ( | unsigned int | newSize | ) |
Resize the array.
References data.
Referenced by KDL::JntArrayVel::resize(), KDL::JntArrayAcc::resize(), KDL::ChainDynParam::updateInternalDataStructures(), KDL::ChainIkSolverPos_NR::updateInternalDataStructures(), KDL::ChainIkSolverVel_pinv::updateInternalDataStructures(), and KDL::ChainIkSolverPos_NR_JL::updateInternalDataStructures().
unsigned int KDL::JntArray::rows | ( | ) | const |
Returns the number of rows (size) of the array.
References data.
Referenced by KDL::TreeIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverVel_pinv_givens::CartToJnt(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::TreeIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverVel_pinv_nso::CartToJnt(), KDL::ChainIdSolver_Vereshchagin::CartToJnt(), KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::TreeIkSolverPos_Online::CartToJnt(), KDL::ChainIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverPos_LMA::CartToJnt(), KDL::TreeIkSolverPos_Online::enforceJointVelLimits(), KDL::Equal(), KDL::JntArrayAcc::JntArrayAcc(), KDL::JntArrayVel::JntArrayVel(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::TreeFkSolverPos_recursive::JntToCart(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), KDL::ChainDynParam::JntToMass(), KDL::operator<<(), KDL::ChainIkSolverPos_NR_JL::setJointLimits(), KDL::ChainIkSolverVel_pinv_nso::setOptPos(), and KDL::ChainIkSolverVel_pinv_nso::setWeights().
Function to add two joint arrays, all the arguments must have the same size: A + B = C.
This function is aliasing-safe, A or B can be the same array as C.
src1 | A |
src2 | B |
dest | C |
Function to divide all the array values with a scalar factor: A/b=C.
This function is aliasing-safe, A can be the same array as C.
src | A |
factor | b |
dest | C |
Function to check if two arrays are the same with a precision of eps.
src1 | |
src2 | |
eps | default: epsilon |
Referenced by KDL::operator==().
Function to multiply all the array values with a scalar factor: A*b=C.
This function is aliasing-safe, A can be the same array as C.
src | A |
factor | b |
dest | C |
Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose.
J*q = t
jac | J |
src | q |
dest | t |
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friend |
Function to set all the values of the array to 0.
array |
Function to subtract two joint arrays, all the arguments must have the same size: A - B = C.
This function is aliasing-safe, A or B can be the same array as C.
src1 | A |
src2 | B |
dest | C |
Eigen::VectorXd KDL::JntArray::data |
Referenced by KDL::Add(), KDL::TreeIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverVel_pinv_nso::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverPos_LMA::CartToJnt(), KDL::ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL(), columns(), KDL::ChainIdSolver_Vereshchagin::constraint_calculation(), KDL::ChainIkSolverPos_LMA::display_jac(), KDL::Divide(), KDL::Equal(), JntArray(), KDL::Multiply(), KDL::MultiplyJacobian(), operator()(), operator=(), resize(), rows(), KDL::SetToZero(), KDL::Subtract(), KDL::ChainIkSolverPos_NR_JL::updateInternalDataStructures(), and KDL::ChainIkSolverVel_pinv_nso::updateInternalDataStructures().