KDL::Jacobian Class Reference

#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)

Detailed Description

Definition at line 36 of file jacobian.hpp.

Constructor & Destructor Documentation

Jacobian() [1/3]

KDL::Jacobian::Jacobian

(

)

Definition at line 26 of file jacobian.cpp.

Jacobian() [2/3]

KDL::Jacobian::Jacobian ( unsigned int  nr_of_columns )

explicit

Definition at line 31 of file jacobian.cpp.

Jacobian() [3/3]

KDL::Jacobian::Jacobian

(

const Jacobian &

arg

)

Definition at line 37 of file jacobian.cpp.

~Jacobian()

KDL::Jacobian::~Jacobian

(

)

Definition at line 49 of file jacobian.cpp.

Member Function Documentation

changeBase()

void KDL::Jacobian::changeBase

(

const Rotation &

rot

)

Definition at line 98 of file jacobian.cpp.

changeRefFrame()

void KDL::Jacobian::changeRefFrame

(

const Frame &

frame

)

Definition at line 112 of file jacobian.cpp.

changeRefPoint()

void KDL::Jacobian::changeRefPoint

(

const Vector &

base_AB

)

Definition at line 84 of file jacobian.cpp.

columns()

unsigned int KDL::Jacobian::columns

(

)

const

Definition at line 74 of file jacobian.cpp.

getColumn()

Twist KDL::Jacobian::getColumn

(

unsigned int

i

)

const

Definition at line 144 of file jacobian.cpp.

operator!=()

bool KDL::Jacobian::operator!=

(

const Jacobian &

arg

)

const

Definition at line 131 of file jacobian.cpp.

operator()() [1/2]

double KDL::Jacobian::operator()	(	unsigned int	i,
		unsigned int	j
	)		const

Definition at line 59 of file jacobian.cpp.

operator()() [2/2]

double & KDL::Jacobian::operator()	(	unsigned int	i,
		unsigned int	j
	)

Definition at line 64 of file jacobian.cpp.

operator=()

Jacobian & KDL::Jacobian::operator=

(

const Jacobian &

arg

)

Allocates memory if size of this and argument is different.

Definition at line 42 of file jacobian.cpp.

operator==()

bool KDL::Jacobian::operator==

(

const Jacobian &

arg

)

const

Definition at line 126 of file jacobian.cpp.

resize()

void KDL::Jacobian::resize

(

unsigned int

newNrOfColumns

)

Allocates memory for new size (can break realtime behavior)

Definition at line 54 of file jacobian.cpp.

rows()

unsigned int KDL::Jacobian::rows

(

)

const

Definition at line 69 of file jacobian.cpp.

setColumn()

void KDL::Jacobian::setColumn	(	unsigned int	i,
		const Twist &	t
	)

Definition at line 148 of file jacobian.cpp.

Friends And Related Function Documentation

changeBase

bool changeBase ( const Jacobian &  src1, const Rotation &  rot, Jacobian &  dest  )

friend

Definition at line 103 of file jacobian.cpp.

changeRefFrame

bool changeRefFrame ( const Jacobian &  src1, const Frame &  frame, Jacobian &  dest  )

friend

Definition at line 117 of file jacobian.cpp.

changeRefPoint

bool changeRefPoint ( const Jacobian &  src1, const Vector &  base_AB, Jacobian &  dest  )

friend

Definition at line 89 of file jacobian.cpp.

Equal

bool Equal ( const Jacobian &  a, const Jacobian &  b, double  eps  )

friend

Definition at line 136 of file jacobian.cpp.

SetToZero

void SetToZero ( Jacobian &  jac )

friend

Definition at line 79 of file jacobian.cpp.

Member Data Documentation

data

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix<double,6,Eigen::Dynamic> KDL::Jacobian::data

Definition at line 41 of file jacobian.hpp.

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The documentation for this class was generated from the following files:

• jacobian.hpp
• jacobian.cpp