#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. | |
bool | operator== (const Jacobian &arg) const |
void | resize (unsigned int newNrOfColumns) |
Allocates memory for new size (can break realtime behavior) | |
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 35 of file jacobian.hpp.
Definition at line 28 of file jacobian.cpp.
KDL::Jacobian::Jacobian | ( | unsigned int | nr_of_columns | ) | [explicit] |
Definition at line 33 of file jacobian.cpp.
KDL::Jacobian::Jacobian | ( | const Jacobian & | arg | ) |
Definition at line 38 of file jacobian.cpp.
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.
bool changeBase | ( | const Jacobian & | src1, |
const Rotation & | rot, | ||
Jacobian & | dest | ||
) | [friend] |
Definition at line 104 of file jacobian.cpp.
bool changeRefFrame | ( | const Jacobian & | src1, |
const Frame & | frame, | ||
Jacobian & | dest | ||
) | [friend] |
Definition at line 118 of file jacobian.cpp.
bool changeRefPoint | ( | const Jacobian & | src1, |
const Vector & | base_AB, | ||
Jacobian & | dest | ||
) | [friend] |
Definition at line 90 of file jacobian.cpp.
Definition at line 137 of file jacobian.cpp.
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 40 of file jacobian.hpp.