jacobian.hpp
Go to the documentation of this file.
00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_JACOBIAN_HPP
00023 #define KDL_JACOBIAN_HPP
00024 
00025 #include "frames.hpp"
00026 #include <Eigen/Core>
00027 
00028 namespace KDL
00029 {
00030     // Equal is friend function, but default arguments for friends are forbidden (ยง8.3.6.4)
00031     class Jacobian;
00032     bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon);
00033     void SetToZero(Jacobian& jac);
00034 
00035 
00036     class Jacobian
00037     {
00038     public:
00039 
00040         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00041         Eigen::Matrix<double,6,Eigen::Dynamic> data;
00042         Jacobian();
00043         explicit Jacobian(unsigned int nr_of_columns);
00044         Jacobian(const Jacobian& arg);
00045 
00047         void resize(unsigned int newNrOfColumns);
00048 
00050         Jacobian& operator=(const Jacobian& arg);
00051 
00052         bool operator ==(const Jacobian& arg)const;
00053         bool operator !=(const Jacobian& arg)const;
00054         
00055         friend bool Equal(const Jacobian& a,const Jacobian& b,double eps);
00056         
00057 
00058         ~Jacobian();
00059 
00060         double operator()(unsigned int i,unsigned int j)const;
00061         double& operator()(unsigned int i,unsigned int j);
00062         unsigned int rows()const;
00063         unsigned int columns()const;
00064 
00065         friend void SetToZero(Jacobian& jac);
00066 
00067         friend bool changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
00068         friend bool changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
00069         friend bool changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
00070 
00071         Twist getColumn(unsigned int i) const;
00072         void setColumn(unsigned int i,const Twist& t);
00073 
00074         void changeRefPoint(const Vector& base_AB);
00075         void changeBase(const Rotation& rot);
00076         void changeRefFrame(const Frame& frame);
00077 
00078 
00079     };
00080 
00081     bool changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
00082     bool changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
00083     bool changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
00084 
00085 
00086 }
00087 
00088 #endif


orocos_kdl
Author(s):
autogenerated on Sat Jul 21 2018 03:48:45