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22 #ifndef KDL_JACOBIAN_HPP
23 #define KDL_JACOBIAN_HPP
32 bool Equal(
const Jacobian& a,
const Jacobian& b,
double eps=epsilon);
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 Eigen::Matrix<double,6,Eigen::Dynamic>
data;
43 explicit Jacobian(
unsigned int nr_of_columns);
47 void resize(
unsigned int newNrOfColumns);
60 double operator()(
unsigned int i,
unsigned int j)
const;
61 double&
operator()(
unsigned int i,
unsigned int j);
62 unsigned int rows()
const;
double data[3]
Definition: frames.hpp:163
Jacobian()
Definition: jacobian.cpp:28
unsigned int columns() const
Definition: jacobian.cpp:75
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
void setColumn(unsigned int i, const Twist &t)
Definition: jacobian.cpp:149
double operator()(unsigned int i, unsigned int j) const
Definition: jacobian.cpp:60
friend bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
Definition: jacobian.cpp:104
bool operator==(const Jacobian &arg) const
Definition: jacobian.cpp:127
bool changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
Definition: jacobian.cpp:118
Definition: articulatedbodyinertia.cpp:28
friend void SetToZero(Jacobian &jac)
Definition: jacobian.cpp:80
friend bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
Definition: jacobian.cpp:90
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
void resize(unsigned int newNrOfColumns)
Allocates memory for new size (can break realtime behavior)
Definition: jacobian.cpp:55
represents both translational and rotational velocities.
Definition: frames.hpp:720
bool operator!=(const Jacobian &arg) const
Definition: jacobian.cpp:132
~Jacobian()
Definition: jacobian.cpp:50
Definition: frames.hpp:570
unsigned int rows() const
Definition: jacobian.cpp:70
bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
Definition: jacobian.cpp:104
Vector vel
The velocity of that point.
Definition: frames.hpp:722
Twist RefPoint(const Vector &v_base_AB) const
Changes the reference point of the twist.
Definition: frames.inl:302
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
Definition: jacobian.hpp:41
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
Definition: jacobian.cpp:90
void SetToZero(Jacobian &jac)
Definition: jacobian.cpp:80
friend bool Equal(const Jacobian &a, const Jacobian &b, double eps)
Definition: jacobian.cpp:137
Twist getColumn(unsigned int i) const
Definition: jacobian.cpp:145
friend bool changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
Definition: jacobian.cpp:118
Jacobian & operator=(const Jacobian &arg)
Allocates memory if size of this and argument is different.
Definition: jacobian.cpp:43
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
Definition: jacobian.hpp:36