KDL::Jacobian Class Reference

#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)

Constructor & Destructor Documentation

Jacobian() [1/3]

KDL::Jacobian::Jacobian

(

)

Jacobian() [2/3]

KDL::Jacobian::Jacobian ( unsigned int  nr_of_columns )

explicit

References data.

Jacobian() [3/3]

KDL::Jacobian::Jacobian

(

const Jacobian &

arg

)

~Jacobian()

KDL::Jacobian::~Jacobian

(

)

Member Function Documentation

changeBase()

void KDL::Jacobian::changeBase

(

const Rotation &

rot

)

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

changeRefFrame()

void KDL::Jacobian::changeRefFrame

(

const Frame &

frame

)

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

changeRefPoint()

void KDL::Jacobian::changeRefPoint

(

const Vector &

base_AB

)

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

columns()

unsigned int KDL::Jacobian::columns

(

)

const

References data.

Referenced by KDL::ChainHdSolver_Vereshchagin::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), and KDL::operator<<().

getColumn()

Twist KDL::Jacobian::getColumn

(

unsigned int

i

)

const

References data.

Referenced by changeBase(), changeRefFrame(), changeRefPoint(), KDL::ChainJntToJacDotSolver::getPartialDerivativeBodyFixed(), KDL::ChainJntToJacDotSolver::getPartialDerivativeHybrid(), and KDL::ChainJntToJacDotSolver::getPartialDerivativeInertial().

operator!=()

bool KDL::Jacobian::operator!=

(

const Jacobian &

arg

)

const

References Equal.

operator()() [1/2]

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

References data.

operator()() [2/2]

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

References data.

operator=()

Jacobian & KDL::Jacobian::operator=

(

const Jacobian &

arg

)

Allocates memory if size of this and argument is different.

References data.

operator==()

bool KDL::Jacobian::operator==

(

const Jacobian &

arg

)

const

References Equal.

resize()

void KDL::Jacobian::resize

(

unsigned int

newNrOfColumns

)

Allocates memory for new size (can break realtime behavior)

References data.

Referenced by KDL::ChainExternalWrenchEstimator::updateInternalDataStructures(), KDL::ChainIkSolverVel_pinv::updateInternalDataStructures(), KDL::ChainIkSolverVel_pinv_givens::updateInternalDataStructures(), KDL::ChainIkSolverVel_pinv_nso::updateInternalDataStructures(), KDL::ChainIkSolverVel_wdls::updateInternalDataStructures(), and KDL::ChainJntToJacDotSolver::updateInternalDataStructures().

rows()

unsigned int KDL::Jacobian::rows

(

)

const

References data.

Referenced by KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), and KDL::operator<<().

setColumn()

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

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

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

Friends And Related Function Documentation

changeBase

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

friend

Referenced by KDL::ChainExternalWrenchEstimator::JntToExtWrench(), and KDL::ChainJntToJacDotSolver::JntToJacDot().

changeRefFrame

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

friend

changeRefPoint

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

friend

Referenced by KDL::ChainJntToJacDotSolver::JntToJacDot().

Equal

bool Equal ( const Jacobian &  a, const Jacobian &  b, double  eps  )

friend

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

SetToZero

void SetToZero ( Jacobian &  jac )

friend

Member Data Documentation

data

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

Referenced by KDL::ChainIkSolverVel_pinv_nso::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), changeBase(), changeRefFrame(), changeRefPoint(), columns(), getColumn(), Jacobian(), KDL::ChainExternalWrenchEstimator::JntToExtWrench(), operator()(), operator=(), resize(), rows(), and setColumn().

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

• src/jacobian.hpp
• src/jacobian.cpp