#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 38 of file jacobian.cpp.
| KDL::Jacobian::~Jacobian | ( | ) |
Definition at line 50 of file jacobian.cpp.
| void KDL::Jacobian::changeBase | ( | const Rotation & | rot | ) |
Definition at line 99 of file jacobian.cpp.
| void KDL::Jacobian::changeRefFrame | ( | const Frame & | frame | ) |
Definition at line 113 of file jacobian.cpp.
| void KDL::Jacobian::changeRefPoint | ( | const Vector & | base_AB | ) |
Definition at line 85 of file jacobian.cpp.
| unsigned int KDL::Jacobian::columns | ( | ) | const |
Definition at line 75 of file jacobian.cpp.
| Twist KDL::Jacobian::getColumn | ( | unsigned int | i | ) | const |
Definition at line 145 of file jacobian.cpp.
| bool KDL::Jacobian::operator!= | ( | const Jacobian & | arg | ) | const |
Definition at line 132 of file jacobian.cpp.
| double KDL::Jacobian::operator() | ( | unsigned int | i, |
| unsigned int | j | ||
| ) | const |
Definition at line 60 of file jacobian.cpp.
| double & KDL::Jacobian::operator() | ( | unsigned int | i, |
| unsigned int | j | ||
| ) |
Definition at line 65 of file jacobian.cpp.
Allocates memory if size of this and argument is different.
Definition at line 43 of file jacobian.cpp.
| bool KDL::Jacobian::operator== | ( | const Jacobian & | arg | ) | const |
Definition at line 127 of file jacobian.cpp.
| void KDL::Jacobian::resize | ( | unsigned int | newNrOfColumns | ) |
Allocates memory for new size (can break realtime behavior)
Definition at line 55 of file jacobian.cpp.
| unsigned int KDL::Jacobian::rows | ( | ) | const |
Definition at line 70 of file jacobian.cpp.
| void KDL::Jacobian::setColumn | ( | unsigned int | i, |
| const Twist & | t | ||
| ) |
Definition at line 149 of file jacobian.cpp.
Definition at line 104 of file jacobian.cpp.
Definition at line 118 of file jacobian.cpp.
Definition at line 90 of file jacobian.cpp.
Definition at line 137 of file jacobian.cpp.
|
friend |
Definition at line 80 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.