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22 #ifndef KDL_JACOBIAN_HPP
23 #define KDL_JACOBIAN_HPP
32 bool Equal(
const Jacobian& a,
const Jacobian& b,
double eps=
epsilon);
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 Eigen::Matrix<double,6,Eigen::Dynamic>
data;
43 explicit Jacobian(
unsigned int nr_of_columns);
47 void resize(
unsigned int newNrOfColumns);
60 double operator()(
unsigned int i,
unsigned int j)
const;
61 double&
operator()(
unsigned int i,
unsigned int j);
62 unsigned int rows()
const;
unsigned int columns() const
void setColumn(unsigned int i, const Twist &t)
double operator()(unsigned int i, unsigned int j) const
friend bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
bool operator==(const Jacobian &arg) const
bool changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
friend void SetToZero(Jacobian &jac)
friend bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
A concrete implementation of a 3 dimensional vector class.
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
void resize(unsigned int newNrOfColumns)
Allocates memory for new size (can break realtime behavior)
represents both translational and rotational velocities.
bool operator!=(const Jacobian &arg) const
represents a frame transformation in 3D space (rotation + translation)
unsigned int rows() const
bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
void SetToZero(Jacobian &jac)
friend bool Equal(const Jacobian &a, const Jacobian &b, double eps)
Twist getColumn(unsigned int i) const
friend bool changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
Jacobian & operator=(const Jacobian &arg)
Allocates memory if size of this and argument is different.
represents rotations in 3 dimensional space.