/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/jacobian.h
Go to the documentation of this file.00001 //###################################################################### 00002 // 00003 // GraspIt! 00004 // Copyright (C) 2002-2009 Columbia University in the City of New York. 00005 // All rights reserved. 00006 // 00007 // GraspIt! is free software: you can redistribute it and/or modify 00008 // it under the terms of the GNU General Public License as published by 00009 // the Free Software Foundation, either version 3 of the License, or 00010 // (at your option) any later version. 00011 // 00012 // GraspIt! is distributed in the hope that it will be useful, 00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 // GNU General Public License for more details. 00016 // 00017 // You should have received a copy of the GNU General Public License 00018 // along with GraspIt!. If not, see <http://www.gnu.org/licenses/>. 00019 // 00020 // Author(s): Matei T. Ciocarlie 00021 // 00022 // $Id: jacobian.h,v 1.3 2009/04/21 14:53:08 cmatei Exp $ 00023 // 00024 //###################################################################### 00025 00026 #ifndef _jacobian_h_ 00027 #define _jacobian_h_ 00028 00039 void jacobian(double t1, double t2, double t3, double t4, double px, double py, double pz, double *J); 00040 void compute_dTdG(double s0, double s1, double s2, double s3, double *dTdG); 00041 00042 #endif