jacobianframevel.hpp File Reference

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

Include dependency graph for jacobianframevel.hpp:

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Classes
class	KDL::BinaryOp< OpAdd, TwistVel, TwistVel >
class	KDL::BinaryOp< OpAdd, VectorVel, VectorVel >
class	KDL::BinaryOp< OpDiff, FrameVel, FrameVel >
class	KDL::BinaryOp< OpDiff, RotationVel, RotationVel >
class	KDL::BinaryOp< OpDiff, VectorVel, VectorVel >
class	KDL::BinaryOp< OpDot, VectorVel, VectorVel >
class	KDL::BinaryOp< OpMult, doubleVel, TwistVel >
class	KDL::BinaryOp< OpMult, doubleVel, VectorVel >
class	KDL::BinaryOp< OpMult, FrameVel, FrameVel >
class	KDL::BinaryOp< OpMult, FrameVel, VectorVel >
class	KDL::BinaryOp< OpMult, RotationVel, RotationVel >
class	KDL::BinaryOp< OpMult, RotationVel, TwistVel >
class	KDL::BinaryOp< OpMult, RotationVel, VectorVel >
class	KDL::BinaryOp< OpMult, TwistVel, doubleVel >
class	KDL::BinaryOp< OpMult, VectorVel, doubleVel >
class	KDL::BinaryOp< OpMult, VectorVel, VectorVel >
class	KDL::BinaryOp< OpRefPoint, TwistVel, VectorVel >
class	KDL::BinaryOp< OpSub, TwistVel, TwistVel >
class	KDL::BinaryOp< OpSub, VectorVel, VectorVel >
class	KDL::UnaryOp< OpCoordX, VectorVel >
class	KDL::UnaryOp< OpCoordY, VectorVel >
class	KDL::UnaryOp< OpCoordZ, VectorVel >
class	KDL::UnaryOp< OpInverse, FrameVel >
class	KDL::UnaryOp< OpInverse, RotationVel >
class	KDL::UnaryOp< OpNegate, TwistVel >
class	KDL::UnaryOp< OpNegate, VectorVel >
class	KDL::UnaryOp< OpNorm, VectorVel >
class	KDL::UnaryOp< OpOrigin, FrameVel >
class	KDL::UnaryOp< OpRotation, FrameVel >
class	KDL::UnaryOp< OpUnitX, RotationVel >
class	KDL::UnaryOp< OpUnitY, RotationVel >
class	KDL::UnaryOp< OpUnitZ, RotationVel >
Namespaces
namespace	KDL
Functions
	KDL::DEFUNARY_TYPE (CoordZ, OpCoordZ, Ref< Jacobian< VectorVel > >)
	KDL::DEFUNARY_TYPE (CoordY, OpCoordY, Ref< Jacobian< VectorVel > >)
	KDL::DEFUNARY_TYPE (CoordX, OpCoordX, Ref< Jacobian< VectorVel > >)
	KDL::DEFUNARY_TYPE (UnitZ, OpUnitZ, Ref< Jacobian< RotationVel > >)
	KDL::DEFUNARY_TYPE (UnitY, OpUnitY, Ref< Jacobian< RotationVel > >)
	KDL::DEFUNARY_TYPE (UnitX, OpUnitX, Ref< Jacobian< RotationVel > >)
	KDL::DEFUNARY_TYPE (Origin, OpOrigin, Ref< Jacobian< FrameVel > >)
	KDL::DEFUNARY_TYPE (RotMat, OpRotation, Ref< Jacobian< FrameVel > >)
	KDL::DEFUNARY_TYPE (Inverse, OpInverse, Ref< Jacobian< RotationVel > >)
	KDL::DEFUNARY_TYPE (Inverse, OpInverse, Ref< Jacobian< FrameVel > >)

---

Detailed Description

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

Definition in file jacobianframevel.hpp.