KDL::Jacobian Class Reference

#include <jacobian.hpp>

List of all members.

Public Member Functions
void	changeBase (const Rotation &rot)
void	changeRefFrame (const Frame &frame)
void	changeRefPoint (const Vector &base_AB)
unsigned int	columns () const
Twist	getColumn (unsigned int i) const
	Jacobian (const Jacobian &arg)
	Jacobian (unsigned int nr_of_columns)
	Jacobian ()
bool	operator!= (const Jacobian &arg) const
double &	operator() (unsigned int i, unsigned int j)
double	operator() (unsigned int i, unsigned int j) const
Jacobian &	operator= (const Jacobian &arg)
	Allocates memory if size of this and argument is different.
bool	operator== (const Jacobian &arg) const
void	resize (unsigned int newNrOfColumns)
	Allocates memory for new size (can break realtime behavior).
unsigned int	rows () const
void	setColumn (unsigned int i, const Twist &t)
	~Jacobian ()
Public Attributes
Eigen::Matrix< double, 6, Eigen::Dynamic >	data
Friends
bool	changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest)
bool	changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest)
bool	changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
bool	Equal (const Jacobian &a, const Jacobian &b, double eps=epsilon)
void	SetToZero (Jacobian &jac)

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Detailed Description

Definition at line 30 of file jacobian.hpp.

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Constructor & Destructor Documentation

USING_PART_OF_NAMESPACE_EIGEN KDL::Jacobian::Jacobian

(

)

Definition at line 28 of file jacobian.cpp.

KDL::Jacobian::Jacobian

(

unsigned int

nr_of_columns

)

Definition at line 33 of file jacobian.cpp.

KDL::Jacobian::Jacobian

(

const Jacobian &

arg

)

Definition at line 38 of file jacobian.cpp.

KDL::Jacobian::~Jacobian

(

)

Definition at line 50 of file jacobian.cpp.

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Member Function Documentation

void KDL::Jacobian::changeBase

(

const Rotation &

rot

)

Definition at line 99 of file jacobian.cpp.

References data, getColumn(), and setColumn().

void KDL::Jacobian::changeRefFrame

(

const Frame &

frame

)

Definition at line 113 of file jacobian.cpp.

References data, getColumn(), and setColumn().

void KDL::Jacobian::changeRefPoint

(

const Vector &

base_AB

)

Definition at line 85 of file jacobian.cpp.

References data, getColumn(), KDL::Twist::RefPoint(), and setColumn().

unsigned int KDL::Jacobian::columns

(

)

const

Definition at line 75 of file jacobian.cpp.

References data.

Referenced by KDL::SVD_HH::calculate(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverVel_pinv_nso::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::Equal(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::ChainJntToJacSolver::JntToJac().

Twist KDL::Jacobian::getColumn

(

unsigned int

i

)

const

Definition at line 145 of file jacobian.cpp.

References data.

Referenced by changeBase(), changeRefFrame(), and changeRefPoint().

bool KDL::Jacobian::operator!=

(

const Jacobian &

arg

)

const

Definition at line 132 of file jacobian.cpp.

References Equal.

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

Definition at line 65 of file jacobian.cpp.

References data.

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

Definition at line 60 of file jacobian.cpp.

References data.

Jacobian & KDL::Jacobian::operator=

(

const Jacobian &

arg

)

Allocates memory if size of this and argument is different.

Definition at line 43 of file jacobian.cpp.

References data.

bool KDL::Jacobian::operator==

(

const Jacobian &

arg

)

const

Definition at line 127 of file jacobian.cpp.

References Equal.

void KDL::Jacobian::resize

(

unsigned int

newNrOfColumns

)

Allocates memory for new size (can break realtime behavior).

Definition at line 55 of file jacobian.cpp.

References data.

unsigned int KDL::Jacobian::rows

(

)

const

Definition at line 70 of file jacobian.cpp.

References data.

Referenced by KDL::SVD_HH::calculate(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverVel_pinv_nso::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), and KDL::Equal().

void KDL::Jacobian::setColumn	(	unsigned int	i,
		const Twist &	t
	)

Definition at line 149 of file jacobian.cpp.

References KDL::Vector::data, data, KDL::Twist::rot, and KDL::Twist::vel.

Referenced by changeBase(), changeRefFrame(), changeRefPoint(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::ChainJntToJacSolver::JntToJac().

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Friends And Related Function Documentation

bool changeBase	(	const Jacobian &	src1,
		const Rotation &	rot,
		Jacobian &	dest
	)			[friend]

bool changeRefFrame	(	const Jacobian &	src1,
		const Frame &	frame,
		Jacobian &	dest
	)			[friend]

bool changeRefPoint	(	const Jacobian &	src1,
		const Vector &	base_AB,
		Jacobian &	dest
	)			[friend]

bool Equal	(	const Jacobian &	a,
		const Jacobian &	b,
		double	eps = epsilon
	)			[friend]

Referenced by operator!=(), and operator==().

void SetToZero

(

Jacobian &

jac

)

[friend]

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Member Data Documentation

Eigen::Matrix<double,6,Eigen::Dynamic> KDL::Jacobian::data

Definition at line 33 of file jacobian.hpp.

Referenced by KDL::ChainIkSolverVel_wdls::CartToJnt(), changeBase(), changeRefFrame(), changeRefPoint(), columns(), KDL::Equal(), getColumn(), operator()(), operator=(), resize(), rows(), setColumn(), and KDL::SetToZero().

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

• jacobian.hpp
• jacobian.cpp