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 (const Jacobian &arg)
	Jacobian (unsigned int nr_of_columns)
	Jacobian ()
bool	operator!= (const Jacobian &arg) const
double &	operator() (unsigned int i, unsigned int j)
double	operator() (unsigned int i, unsigned int j) const
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::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=epsilon)
void	SetToZero (Jacobian &jac)

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Detailed Description

Definition at line 30 of file jacobian.hpp.

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Constructor & Destructor Documentation

Jacobian< T >::Jacobian

(

)

Definition at line 28 of file jacobian.cpp.

Jacobian< T >::Jacobian

(

unsigned int

nr_of_columns

)

[explicit]

Definition at line 33 of file jacobian.cpp.

Jacobian< T >::Jacobian

(

const Jacobian &

arg

)

Definition at line 38 of file jacobian.cpp.

Jacobian< T >::~Jacobian

(

)

Definition at line 50 of file jacobian.cpp.

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Member Function Documentation

void Jacobian< T >::changeBase

(

const Rotation &

rot

)

Definition at line 99 of file jacobian.cpp.

void Jacobian< T >::changeRefFrame

(

const Frame &

frame

)

Definition at line 113 of file jacobian.cpp.

void Jacobian< T >::changeRefPoint

(

const Vector &

base_AB

)

Definition at line 85 of file jacobian.cpp.

unsigned int Jacobian< T >::columns

(

)

const

Definition at line 75 of file jacobian.cpp.

Twist Jacobian< T >::getColumn

(

unsigned int

i

)

const

Definition at line 145 of file jacobian.cpp.

bool Jacobian< T >::operator!=

(

const Jacobian &

arg

)

const

Definition at line 132 of file jacobian.cpp.

double & Jacobian< T >::operator()	(	unsigned int	i,
		unsigned int	j
	)

Definition at line 65 of file jacobian.cpp.

double Jacobian< T >::operator()	(	unsigned int	i,
		unsigned int	j
	)			const

Definition at line 60 of file jacobian.cpp.

Jacobian & Jacobian< T >::operator=

(

const Jacobian &

arg

)

Allocates memory if size of this and argument is different.

Definition at line 43 of file jacobian.cpp.

bool Jacobian< T >::operator==

(

const Jacobian &

arg

)

const

Definition at line 127 of file jacobian.cpp.

void Jacobian< T >::resize

(

unsigned int

newNrOfColumns

)

Allocates memory for new size (can break realtime behavior).

Definition at line 55 of file jacobian.cpp.

unsigned int Jacobian< T >::rows

(

)

const

Definition at line 70 of file jacobian.cpp.

void Jacobian< T >::setColumn	(	unsigned int	i,
		const Twist &	t
	)

Definition at line 149 of file jacobian.cpp.

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Friends And Related Function Documentation

bool changeBase	(	const Jacobian &	src1,
		const Rotation &	rot,
		Jacobian &	dest
	)			[friend]

bool changeRefFrame	(	const Jacobian &	src1,
		const Frame &	frame,
		Jacobian &	dest
	)			[friend]

bool changeRefPoint	(	const Jacobian &	src1,
		const Vector &	base_AB,
		Jacobian &	dest
	)			[friend]

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

Definition at line 137 of file jacobian.cpp.

void SetToZero

(

Jacobian &

jac

)

[friend]

Definition at line 80 of file jacobian.cpp.

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Member Data Documentation

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

Definition at line 33 of file jacobian.hpp.

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

• jacobian.hpp
• jacobian.cpp