jacobianframe.hpp File Reference

#include <kdl/jacobianexpr.hpp>
#include <kdl/frames.hpp>
#include <kdl/stiffness.hpp>

Include dependency graph for jacobianframe.hpp:

Go to the source code of this file.

Classes
class	KDL::BinaryOp< OpAdd, Twist, Twist >
class	KDL::BinaryOp< OpAdd, Vector, Vector >
class	KDL::BinaryOp< OpAdd, Wrench, Wrench >
class	KDL::BinaryOp< OpDiff, Frame, Frame >
class	KDL::BinaryOp< OpDiff, Rotation, Rotation >
class	KDL::BinaryOp< OpDiff, Vector, Vector >
class	KDL::BinaryOp< OpDot, Vector, Vector >
class	KDL::BinaryOp< OpInverse, Stiffness, Wrench >
class	KDL::BinaryOp< OpMult, double, Twist >
class	KDL::BinaryOp< OpMult, double, Vector >
class	KDL::BinaryOp< OpMult, double, Wrench >
class	KDL::BinaryOp< OpMult, Frame, Frame >
class	KDL::BinaryOp< OpMult, Frame, Vector >
class	KDL::BinaryOp< OpMult, Rotation, Rotation >
class	KDL::BinaryOp< OpMult, Rotation, Twist >
class	KDL::BinaryOp< OpMult, Rotation, Vector >
class	KDL::BinaryOp< OpMult, Rotation, Wrench >
class	KDL::BinaryOp< OpMult, Stiffness, Twist >
class	KDL::BinaryOp< OpMult, Twist, double >
class	KDL::BinaryOp< OpMult, Vector, double >
class	KDL::BinaryOp< OpMult, Vector, Vector >
class	KDL::BinaryOp< OpMult, Wrench, double >
class	KDL::BinaryOp< OpRefPoint, Twist, Vector >
class	KDL::BinaryOp< OpRefPoint, Wrench, Vector >
class	KDL::BinaryOp< OpSub, Twist, Twist >
class	KDL::BinaryOp< OpSub, Vector, Vector >
class	KDL::BinaryOp< OpSub, Wrench, Wrench >
class	KDL::UnaryOp< OpCoordX, Vector >
class	KDL::UnaryOp< OpCoordY, Vector >
class	KDL::UnaryOp< OpCoordZ, Vector >
class	KDL::UnaryOp< OpInverse, Frame >
class	KDL::UnaryOp< OpInverse, Rotation >
class	KDL::UnaryOp< OpNegate, Twist >
class	KDL::UnaryOp< OpNegate, Vector >
class	KDL::UnaryOp< OpNegate, Wrench >
class	KDL::UnaryOp< OpNorm, Vector >
class	KDL::UnaryOp< OpOrigin, Frame >
class	KDL::UnaryOp< OpRotation, Frame >
class	KDL::UnaryOp< OpRotX, double >
class	KDL::UnaryOp< OpRotY, double >
class	KDL::UnaryOp< OpRotZ, double >
class	KDL::UnaryOp< OpUnitX, Rotation >
class	KDL::UnaryOp< OpUnitY, Rotation >
class	KDL::UnaryOp< OpUnitZ, Rotation >
Namespaces
namespace	KDL
Functions
	KDL::DEFUNARY_TYPE (CoordZ, OpCoordZ, Ref< Jacobian< Vector > >)
	KDL::DEFUNARY_TYPE (CoordY, OpCoordY, Ref< Jacobian< Vector > >)
	KDL::DEFUNARY_TYPE (CoordX, OpCoordX, Ref< Jacobian< Vector > >)
	KDL::DEFUNARY_TYPE (UnitZ, OpUnitZ, Ref< Jacobian< Rotation > >)
	KDL::DEFUNARY_TYPE (UnitY, OpUnitY, Ref< Jacobian< Rotation > >)
	KDL::DEFUNARY_TYPE (UnitX, OpUnitX, Ref< Jacobian< Rotation > >)
	KDL::DEFUNARY_TYPE (Origin, OpOrigin, Ref< Jacobian< Frame > >)
	KDL::DEFUNARY_TYPE (RotMat, OpRotation, Ref< Jacobian< Frame > >)
	KDL::DEFUNARY_TYPE (Inverse, OpInverse, Ref< Jacobian< Rotation > >)
	KDL::DEFUNARY_TYPE (RotZ, OpRotZ, Ref< Jacobian< double > >)
	KDL::DEFUNARY_TYPE (RotY, OpRotY, Ref< Jacobian< double > >)
	KDL::DEFUNARY_TYPE (RotX, OpRotX, Ref< Jacobian< double > >)
	KDL::DEFUNARY_TYPE (Inverse, OpInverse, Ref< Jacobian< Frame > >)
int	KDL::GetEulerZYX (const Jacobian< Rotation > &JR, Jacobian< double > &gamma, Jacobian< double > &beta, Jacobian< double > &alpha, double eps)
	function to get the euler zyx angles.
int	KDL::GetRPY (const Jacobian< Rotation > &JR, Jacobian< double > &roll, Jacobian< double > &pitch, Jacobian< double > &yaw, double eps=epsilon)
	function to get the rpy angles.
void	KDL::SetEulerZYX (const Jacobian< double > &gamma, const Jacobian< double > &beta, const Jacobian< double > &alpha, Jacobian< Rotation > &JR)
	funcion to set the euler zyx angles.
void	KDL::SetRPY (const Jacobian< double > &roll, const Jacobian< double > &pitch, const Jacobian< double > &yaw, Jacobian< Rotation > &JR)
	funcion to set the rpy angles.

---

Detailed Description

 * OPERATIONS :
 *      - Jacobian<Frame> * Jacobian<Frame>      returns Jacobian<Frame>
 *      - Inverse(Jacobian<Frame>)        returns Jacobian<Frame>
 *      - Jacobian<Frame> * Jacobian<Vector>    returns Jacobian<Vector>
 *
 *      - RotX(Jacobian<double>)          returns Jacobian<Rotation>
 *      - RotY(Jacobian<double>)          returns Jacobian<Rotation>
 *      - RotZ(Jacobian<double>)          returns Jacobian<Rotation>
 *      - Inverse(Jacobian<Rotation>)     returns Jacobian<Rotation>
 *      - Jacobian<Rotation>*Jacobian<Rotation> returns Jacobian<Rotation>
 *      
 *      - dot(Jacobian<Vector>, Jacobian<Vector>) returns Jacobian<Vector>(dot-product)
 *      - Jacobian<Vector> * Jacobian<Vector>   returns Jacobian<Vector>  (cross-product)
 *      - Jacobian<Vector> + Jacobian<Vector>   returns Jacobian<Vector> 
 *      - Jacobian<Vector> - Jacobian<Vector>   returns Jacobian<Vector> 
 *      -    - Jacobian<Vector>           returns Jacobian<Vector>
 *      - norm( Jacobian<Vector> )        returns Jacobian<double> represening the norm of the vector
 *
 *      - Jacobian<Vector> * Jacobian<double>   returns Jacobian<Vector>
 *      - Jacobian<double> * Jacobian<Vector>   returns Jacobian<Vector>
 *      
 *      - Origin( Jacobian<Frame> )       returns Jacobian<Vector>
 *      - RotMat( Jacobian<Frame> )       returns Jacobian<Rotation>
 *      - UnitX( Jacobian<Rotation>)      returns Jacobian<Vector>
 *      - UnitY( Jacobian<Rotation>)      returns Jacobian<Vector>
 *      - UnitZ( Jacobian<Rotation>)      returns Jacobian<Vector>
 *      - CoordX( Jacobian<Vector> )      returns Jacobian<double>
 *      - CoordY( Jacobian<Vector> )      returns Jacobian<double>
 *      - CoordZ( Jacobian<Vector> )      returns Jacobian<double>
 *      - Diff( Jacobian<Frame>, Jacobian<Frame>) returns Jacobian<Twist>
 *      - Diff( Jacobian<Rotation>, Jacobian<Rotation> ) returns Jacobian<Rotation>
 *      - Diff( Jacobian<Vector>, Jacobian<Vector>) returns Jacobian<Vector>
 *
 * Jacobian<Wrench> operations.
 *     -Wrench                returns Wrench
 *     Wrench+Wrench           returns Wrench
 *     Wrench-Wrench           returns Wrench
 *     Rotation*Wrench        returns Wrench
 *     Wrench*double          returns Wrench
 *     double*Wrench          returns Wrench
 *     RefPoint(Wrench,Vector) returns Wrench
 *
 * Jacobian<Twist> operations.
 *      -Twist                returns Twist
 *     Twist+Twist           returns Twist
 *     Twist-Twist           returns Twist
 *     Rotation*Twist        returns Twist
 *     Twist*double          returns Twist
 *     double*Twist          returns Twist
 *     RefPoint(Twist,Vector) returns Twist
 *
 * Functions operating on Jacobian<> :
 *   - GetEulerZYX, SetEulerZYX
 *   - GetRPY, SetRPY
 *
 * 

Definition in file jacobianframe.hpp.