/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/jacobian.h File Reference

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Functions
void	compute_dTdG (double s0, double s1, double s2, double s3, double *dTdG)
void	jacobian (double t1, double t2, double t3, double t4, double px, double py, double pz, double *J)

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Detailed Description

A hard-coded jacobian and derivative for the thumb of the human hand, computed in Mathematica and then translated here. Used only for CyberGlove thumb calibration.

This file needs a less generic name - this is only a very specific thing for the human hand and glove calibration. More general Jacobian computations can be found in the Grasp class.

Definition in file jacobian.h.

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Function Documentation

void compute_dTdG	(	double	s0,
		double	s1,
		double	s2,
		double	s3,
		double *	dTdG
	)

Definition at line 97 of file jacobian.cpp.

void jacobian	(	double	t1,
		double	t2,
		double	t3,
		double	t4,
		double	px,
		double	py,
		double	pz,
		double *	J
	)

Definition at line 29 of file jacobian.cpp.