KDL::Jacobian Class Reference

#include <src/jacobian.hpp>

Public Member Functions
	Jacobian ()
	Jacobian (unsigned int nr_of_columns)
	Jacobian (const Jacobian &arg)
void	resize (unsigned int newNrOfColumns)
	Allocates memory for new size (can break realtime behavior)
Jacobian &	operator= (const Jacobian &arg)
	Allocates memory if size of this and argument is different.
bool	operator== (const Jacobian &arg) const
bool	operator!= (const Jacobian &arg) const
	~Jacobian ()
double	operator() (unsigned int i, unsigned int j) const
double &	operator() (unsigned int i, unsigned int j)
unsigned int	rows () const
unsigned int	columns () const
Twist	getColumn (unsigned int i) const
void	setColumn (unsigned int i, const Twist &t)
void	changeRefPoint (const Vector &base_AB)
void	changeBase (const Rotation &rot)
void	changeRefFrame (const Frame &frame)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic >	data

Friends
bool	Equal (const Jacobian &a, const Jacobian &b, double eps=epsilon)
void	SetToZero (Jacobian &jac)
bool	changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
bool	changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest)
bool	changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest)

Constructor & Destructor Documentation

Jacobian() [1/3]

KDL::Jacobian::Jacobian

(

)

Referenced by changeBase, changeRefFrame, changeRefPoint, Equal, Jacobian(), operator!=(), operator=(), operator==(), and SetToZero.

Jacobian() [2/3]

KDL::Jacobian::Jacobian ( unsigned int nr_of_columns )

explicit

References data.

Jacobian() [3/3]

KDL::Jacobian::Jacobian

(

const Jacobian &

arg

)

References data, and Jacobian().

~Jacobian()

KDL::Jacobian::~Jacobian

(

)

Member Function Documentation

changeBase()

void KDL::Jacobian::changeBase

(

const Rotation &

rot

)

References data, getColumn(), and setColumn().

changeRefFrame()

void KDL::Jacobian::changeRefFrame

(

const Frame &

frame

)

References data, getColumn(), and setColumn().

changeRefPoint()

void KDL::Jacobian::changeRefPoint

(

const Vector &

base_AB

)

References data, getColumn(), and setColumn().

columns()

unsigned int KDL::Jacobian::columns

(

)

const

References data.

Referenced by KDL::ChainHdSolver_Vereshchagin::CartToJnt(), changeBase, changeRefFrame, changeRefPoint, Equal, KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), and KDL::operator<<().

getColumn()

Twist KDL::Jacobian::getColumn

(

unsigned int

i

)

const

References data.

Referenced by changeBase, changeBase(), changeRefFrame(), changeRefFrame, changeRefPoint, changeRefPoint(), KDL::ChainJntToJacDotSolver::getPartialDerivativeBodyFixed(), KDL::ChainJntToJacDotSolver::getPartialDerivativeHybrid(), and KDL::ChainJntToJacDotSolver::getPartialDerivativeInertial().

operator!=()

bool KDL::Jacobian::operator!=

(

const Jacobian &

arg

)

const

References Equal, and Jacobian().

operator()() [1/2]

double & KDL::Jacobian::operator()	(	unsigned int	i,
		unsigned int	j )

References data.

operator()() [2/2]

double KDL::Jacobian::operator()	(	unsigned int	i,
		unsigned int	j ) const

References data.

operator=()

Jacobian & KDL::Jacobian::operator=

(

const Jacobian &

arg

)

Allocates memory if size of this and argument is different.

References data, and Jacobian().

operator==()

bool KDL::Jacobian::operator==

(

const Jacobian &

arg

)

const

References Equal, and Jacobian().

resize()

void KDL::Jacobian::resize

(

unsigned int

newNrOfColumns

)

Allocates memory for new size (can break realtime behavior)

References data.

rows()

unsigned int KDL::Jacobian::rows

(

)

const

References data.

Referenced by Equal, and KDL::operator<<().

setColumn()

void KDL::Jacobian::setColumn	(	unsigned int	i,
		const Twist &	t )

References data, KDL::Vector::data, KDL::Twist::rot, and KDL::Twist::vel.

Referenced by changeBase, changeBase(), changeRefFrame(), changeRefFrame, changeRefPoint, changeRefPoint(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::ChainJntToJacDotSolver::JntToJacDot().

Friends And Related Symbol Documentation

changeBase

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

friend

References columns(), getColumn(), Jacobian(), and setColumn().

changeRefFrame

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

friend

References columns(), getColumn(), Jacobian(), and setColumn().

changeRefPoint

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

friend

References columns(), getColumn(), Jacobian(), KDL::Twist::RefPoint(), and setColumn().

Equal

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

friend

References columns(), data, Jacobian(), and rows().

Referenced by operator!=(), and operator==().

SetToZero

void SetToZero ( Jacobian & jac )

friend

References data, and Jacobian().

Member Data Documentation

data

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

Referenced by changeBase(), changeRefFrame(), changeRefPoint(), columns(), Equal, getColumn(), Jacobian(), Jacobian(), KDL::JntArray::MultiplyJacobian, operator()(), operator()(), operator=(), resize(), rows(), setColumn(), and SetToZero.

---

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

• src/jacobian.hpp
• src/jacobian.cpp