#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)

Detailed Description

Definition at line 36 of file jacobian.hpp.

Constructor & Destructor Documentation

KDL::Jacobian::Jacobian ( )

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.

KDL::Jacobian::~Jacobian ( )

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:

Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation