orocos_kdl
Public Member Functions | Public Attributes | Friends | List of all members
KDL::Jacobian Class Reference

#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 (const Jacobian &arg)
 
 Jacobian (unsigned int nr_of_columns)
 
bool operator!= (const Jacobian &arg) const
 
double & operator() (unsigned int i, unsigned int j)
 
double operator() (unsigned int i, unsigned int j) const
 
Jacobianoperator= (const Jacobian &arg)
 Allocates memory if size of this and argument is different. More...
 
bool operator== (const Jacobian &arg) const
 
void resize (unsigned int newNrOfColumns)
 Allocates memory for new size (can break realtime behavior) More...
 
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

◆ Jacobian() [1/3]

KDL::Jacobian::Jacobian ( )

Definition at line 26 of file jacobian.cpp.

◆ Jacobian() [2/3]

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

Definition at line 31 of file jacobian.cpp.

◆ Jacobian() [3/3]

KDL::Jacobian::Jacobian ( const Jacobian arg)

Definition at line 37 of file jacobian.cpp.

◆ ~Jacobian()

KDL::Jacobian::~Jacobian ( )

Definition at line 49 of file jacobian.cpp.

Member Function Documentation

◆ changeBase()

void KDL::Jacobian::changeBase ( const Rotation rot)

Definition at line 98 of file jacobian.cpp.

◆ changeRefFrame()

void KDL::Jacobian::changeRefFrame ( const Frame frame)

Definition at line 112 of file jacobian.cpp.

◆ changeRefPoint()

void KDL::Jacobian::changeRefPoint ( const Vector base_AB)

Definition at line 84 of file jacobian.cpp.

◆ columns()

unsigned int KDL::Jacobian::columns ( ) const

Definition at line 74 of file jacobian.cpp.

◆ getColumn()

Twist KDL::Jacobian::getColumn ( unsigned int  i) const

Definition at line 144 of file jacobian.cpp.

◆ operator!=()

bool KDL::Jacobian::operator!= ( const Jacobian arg) const

Definition at line 131 of file jacobian.cpp.

◆ operator()() [1/2]

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

Definition at line 64 of file jacobian.cpp.

◆ operator()() [2/2]

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

Definition at line 59 of file jacobian.cpp.

◆ operator=()

Jacobian & KDL::Jacobian::operator= ( const Jacobian arg)

Allocates memory if size of this and argument is different.

Definition at line 42 of file jacobian.cpp.

◆ operator==()

bool KDL::Jacobian::operator== ( const Jacobian arg) const

Definition at line 126 of file jacobian.cpp.

◆ resize()

void KDL::Jacobian::resize ( unsigned int  newNrOfColumns)

Allocates memory for new size (can break realtime behavior)

Definition at line 54 of file jacobian.cpp.

◆ rows()

unsigned int KDL::Jacobian::rows ( ) const

Definition at line 69 of file jacobian.cpp.

◆ setColumn()

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

Definition at line 148 of file jacobian.cpp.

Friends And Related Function Documentation

◆ changeBase

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

Definition at line 103 of file jacobian.cpp.

◆ changeRefFrame

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

Definition at line 117 of file jacobian.cpp.

◆ changeRefPoint

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

Definition at line 89 of file jacobian.cpp.

◆ Equal

bool Equal ( const Jacobian a,
const Jacobian b,
double  eps 
)
friend

Definition at line 136 of file jacobian.cpp.

◆ SetToZero

void SetToZero ( Jacobian jac)
friend

Definition at line 79 of file jacobian.cpp.

Member Data Documentation

◆ data

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: