#include <jacobian.hpp>
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 () | |
| Jacobian (unsigned int nr_of_columns) | |
| Jacobian (const Jacobian &arg) | |
| bool | operator!= (const Jacobian &arg) const |
| double | operator() (unsigned int i, unsigned int j) const |
| double & | operator() (unsigned int i, unsigned int j) |
| Jacobian & | operator= (const Jacobian &arg) |
| Allocates memory if size of this and argument is different. More... | |
| bool | operator== (const Jacobian &arg) const |
| void | resize (unsigned int newNrOfColumns) |
| Allocates memory for new size (can break realtime behavior) More... | |
| unsigned int | rows () const |
| void | setColumn (unsigned int i, const Twist &t) |
| ~Jacobian () | |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW 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) |
| void | SetToZero (Jacobian &jac) |
Definition at line 36 of file jacobian.hpp.
| KDL::Jacobian::Jacobian | ( | ) |
Definition at line 28 of file jacobian.cpp.
|
explicit |
Definition at line 33 of file jacobian.cpp.
| KDL::Jacobian::Jacobian | ( | const Jacobian & | arg | ) |
Definition at line 39 of file jacobian.cpp.
| KDL::Jacobian::~Jacobian | ( | ) |
Definition at line 51 of file jacobian.cpp.
| void KDL::Jacobian::changeBase | ( | const Rotation & | rot | ) |
Definition at line 100 of file jacobian.cpp.
| void KDL::Jacobian::changeRefFrame | ( | const Frame & | frame | ) |
Definition at line 114 of file jacobian.cpp.
| void KDL::Jacobian::changeRefPoint | ( | const Vector & | base_AB | ) |
Definition at line 86 of file jacobian.cpp.
| unsigned int KDL::Jacobian::columns | ( | ) | const |
Definition at line 76 of file jacobian.cpp.
| Twist KDL::Jacobian::getColumn | ( | unsigned int | i | ) | const |
Definition at line 146 of file jacobian.cpp.
| bool KDL::Jacobian::operator!= | ( | const Jacobian & | arg | ) | const |
Definition at line 133 of file jacobian.cpp.
| double KDL::Jacobian::operator() | ( | unsigned int | i, |
| unsigned int | j | ||
| ) | const |
Definition at line 61 of file jacobian.cpp.
| double & KDL::Jacobian::operator() | ( | unsigned int | i, |
| unsigned int | j | ||
| ) |
Definition at line 66 of file jacobian.cpp.
Allocates memory if size of this and argument is different.
Definition at line 44 of file jacobian.cpp.
| bool KDL::Jacobian::operator== | ( | const Jacobian & | arg | ) | const |
Definition at line 128 of file jacobian.cpp.
| void KDL::Jacobian::resize | ( | unsigned int | newNrOfColumns | ) |
Allocates memory for new size (can break realtime behavior)
Definition at line 56 of file jacobian.cpp.
| unsigned int KDL::Jacobian::rows | ( | ) | const |
Definition at line 71 of file jacobian.cpp.
| void KDL::Jacobian::setColumn | ( | unsigned int | i, |
| const Twist & | t | ||
| ) |
Definition at line 150 of file jacobian.cpp.
Definition at line 105 of file jacobian.cpp.
Definition at line 119 of file jacobian.cpp.
Definition at line 91 of file jacobian.cpp.
Definition at line 138 of file jacobian.cpp.
|
friend |
Definition at line 81 of file jacobian.cpp.
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix<double,6,Eigen::Dynamic> KDL::Jacobian::data |
Definition at line 41 of file jacobian.hpp.