KDL::JntSpaceInertiaMatrix Class Reference

This class represents an fixed size matrix containing the Joint-Space Inertia Matrix of a KDL::Chain. More...

#include <jntspaceinertiamatrix.hpp>

Public Member Functions
unsigned int	columns () const
	Returns the number of columns of the matrix.
	JntSpaceInertiaMatrix (const JntSpaceInertiaMatrix &arg)
	Copy constructor.
	JntSpaceInertiaMatrix (int size)
	Constructor of the Joint-Space Inertia Matrix.
	JntSpaceInertiaMatrix ()
	Construct with _no_ data array.
double &	operator() (unsigned int i, unsigned int j)
	set_item operator
double	operator() (unsigned int i, unsigned int j) const
	get_item operator for the joint matrix
JntSpaceInertiaMatrix &	operator= (const JntSpaceInertiaMatrix &arg)
void	resize (unsigned int newSize)
	Resize the array.
unsigned int	rows () const
	Returns the number of rows and columns of the matrix.
	~JntSpaceInertiaMatrix ()
Public Attributes
Eigen::MatrixXd	data
Friends
void	Add (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
	Function to add two joint matrix, all the arguments must have the same size: A + B = C.
void	Divide (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
	Function to divide all the array values with a scalar factor: A/b=C.
bool	Equal (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, double eps=epsilon)
	Function to check if two matrices are the same with a precision of eps.
void	Multiply (const JntSpaceInertiaMatrix &src, const JntArray &vec, JntArray &dest)
	Function to multiply a KDL::Jacobian with a KDL::JntSpaceInertiaMatrix to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose.
void	Multiply (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest)
	Function to multiply all the array values with a scalar factor: A*b=C.
bool	operator== (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2)
void	SetToZero (JntSpaceInertiaMatrix &mat)
	Function to set all the values of the array to 0.
void	Subtract (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest)
	Function to subtract two joint matrix, all the arguments must have the same size: A - B = C.

Detailed Description

This class represents an fixed size matrix containing the Joint-Space Inertia Matrix of a KDL::Chain.

Warning:: An object constructed with the default constructor provides a valid, but inert, object. Many of the member functions will do the correct thing and have no affect on this object, but some member functions can _NOT_ deal with an inert/empty object. These functions will assert() and exit the program instead. The intended use case for the default constructor (in an RTT/OCL setting) is outlined in code below - the default constructor plus the resize() function allow use of JntSpaceInertiaMatrix objects whose size is set within a configureHook() call (typically based on a size determined from a property).

class MyTask : public RTT::TaskContext
{
   JntSpaceInertiaMatrix                j;
   MyTask() 
   {}                   // invokes j's default constructor

   bool configureHook()
   {
       unsigned int size = some_property.rvalue();
           j.resize(size)
           ...
   }

   void updateHook()
   {
 use j here
   }
};

Definition at line 70 of file jntspaceinertiamatrix.hpp.

Constructor & Destructor Documentation

USING_PART_OF_NAMESPACE_EIGEN KDL::JntSpaceInertiaMatrix::JntSpaceInertiaMatrix ( )

Construct with _no_ data array.

Postcondition:: NULL == data; 0 == rows()

Warning:: use of an object constructed like this, without a resize() first, may result in program exit! See class documentation.

Definition at line 28 of file jntspaceinertiamatrix.cpp.

KDL::JntSpaceInertiaMatrix::JntSpaceInertiaMatrix ( int size )

Constructor of the Joint-Space Inertia Matrix.

Parameters:

size

of the matrix, this cannot be changed afterwards. Size rows and size columns.

Precondition:: 0 < size

Postcondition:: NULL != data; 0 < rows(); all elements in data have 0 value

Definition at line 32 of file jntspaceinertiamatrix.cpp.

References data.

KDL::JntSpaceInertiaMatrix::JntSpaceInertiaMatrix ( const JntSpaceInertiaMatrix & arg )

Copy constructor.

Note:: Will correctly copy an empty object

Definition at line 39 of file jntspaceinertiamatrix.cpp.

KDL::JntSpaceInertiaMatrix::~JntSpaceInertiaMatrix ( )

Definition at line 51 of file jntspaceinertiamatrix.cpp.

Member Function Documentation

unsigned int KDL::JntSpaceInertiaMatrix::columns ( ) const

Returns the number of columns of the matrix.

Definition at line 75 of file jntspaceinertiamatrix.cpp.

References data.

Referenced by KDL::Equal(), and KDL::ChainDynParam::JntToMass().

double & KDL::JntSpaceInertiaMatrix::operator()	(	unsigned int	i,
		unsigned int	j
	)

set_item operator

Returns:: reference to the joint value at position i,starting from zero.

Precondition:: 0 != size (ie non-default constructor or resize() called)

Definition at line 65 of file jntspaceinertiamatrix.cpp.

References data.

double KDL::JntSpaceInertiaMatrix::operator()	(	unsigned int	i,
		unsigned int	j
	)			const

get_item operator for the joint matrix

Returns:: the joint value at position i, starting from 0

Precondition:: 0 != size (ie non-default constructor or resize() called)

Definition at line 60 of file jntspaceinertiamatrix.cpp.

References data.

JntSpaceInertiaMatrix & KDL::JntSpaceInertiaMatrix::operator= ( const JntSpaceInertiaMatrix & arg )

Definition at line 44 of file jntspaceinertiamatrix.cpp.

References data.

void KDL::JntSpaceInertiaMatrix::resize ( unsigned int newSize )

Resize the array.

Warning:: This causes a dynamic allocation (and potentially also a dynamic deallocation). This _will_ negatively affect real-time performance!

Postcondition:: newSize == rows(); NULL != data; all elements in data have 0 value

Definition at line 55 of file jntspaceinertiamatrix.cpp.

References data.

unsigned int KDL::JntSpaceInertiaMatrix::rows ( ) const

Returns the number of rows and columns of the matrix.

Definition at line 70 of file jntspaceinertiamatrix.cpp.

References data.

Referenced by KDL::Equal(), and KDL::ChainDynParam::JntToMass().

Friends And Related Function Documentation

void Add	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		JntSpaceInertiaMatrix &	dest
	)			`[friend]`

Function to add two joint matrix, 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.

Parameters:

	src1	A
	src2	B
	dest	C

void Divide	(	const JntSpaceInertiaMatrix &	src,
		const double &	factor,
		JntSpaceInertiaMatrix &	dest
	)			`[friend]`

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.

Parameters:

	src	A
	factor	b
	dest	C

bool Equal	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		double	eps = `epsilon`
	)			`[friend]`

Function to check if two matrices are the same with a precision of eps.

Parameters:

	src1
	src2
	eps	default: epsilon

Returns:: true if each element of src1 is within eps of the same element in src2, or if both src1 and src2 have no data (ie 0==rows())

void Multiply	(	const JntSpaceInertiaMatrix &	src,
		const JntArray &	vec,
		JntArray &	dest
	)			`[friend]`

Function to multiply a KDL::Jacobian with a KDL::JntSpaceInertiaMatrix 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

Parameters:

	src	J: Inertia Matrix (6x6)
	vec	q: Jacobian (6x1)
	dest	t: Twist (6x1)

Postcondition:: dest==TwistZero() if 0==src.rows() (ie src is empty)

void Multiply	(	const JntSpaceInertiaMatrix &	src,
		const double &	factor,
		JntSpaceInertiaMatrix &	dest
	)			`[friend]`

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.

Parameters:

	src	A
	factor	b
	dest	C

bool operator==	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2
	)			`[friend]`

void SetToZero ( JntSpaceInertiaMatrix & mat ) [friend]

Function to set all the values of the array to 0.

Parameters:

mat

void Subtract	(	const JntSpaceInertiaMatrix &	src1,
		const JntSpaceInertiaMatrix &	src2,
		JntSpaceInertiaMatrix &	dest
	)			`[friend]`

Function to subtract two joint matrix, 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.

Parameters:

	src1	A
	src2	B
	dest	C

Member Data Documentation

Eigen::MatrixXd KDL::JntSpaceInertiaMatrix::data

Definition at line 73 of file jntspaceinertiamatrix.hpp.

Referenced by KDL::Add(), columns(), KDL::Divide(), KDL::Equal(), JntSpaceInertiaMatrix(), KDL::Multiply(), operator()(), operator=(), resize(), rows(), KDL::SetToZero(), and KDL::Subtract().

The documentation for this class was generated from the following files:

KDL::JntSpaceInertiaMatrix Class Reference

Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation