Public Member Functions | Public Attributes | Friends
KDL::Jacobian Class Reference

#include <jacobian.hpp>

List of all members.

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)
Jacobianoperator= (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)

Detailed Description

Definition at line 36 of file jacobian.hpp.


Constructor & Destructor Documentation

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.

Definition at line 38 of file jacobian.cpp.

Definition at line 50 of file jacobian.cpp.


Member Function Documentation

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.

Jacobian & KDL::Jacobian::operator= ( const Jacobian arg)

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.


Friends And Related Function Documentation

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.

bool Equal ( const Jacobian a,
const Jacobian b,
double  eps 
) [friend]

Definition at line 137 of file jacobian.cpp.

void SetToZero ( Jacobian jac) [friend]

Definition at line 80 of file jacobian.cpp.


Member Data Documentation

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

Definition at line 41 of file jacobian.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Oct 18 2017 02:59:41