IK_QJacobian Class Reference

#include <IK_QJacobian.h>

Public Member Functions
	IK_QJacobian ()
	~IK_QJacobian ()
void	ArmMatrices (int dof, int task_size)
void	SetDoFWeight (int dof, double weight)
void	SetBetas (int id, int size, const Vector3d &v)
void	SetDerivatives (int id, int dof_id, const Vector3d &v, double norm_weight)
void	Invert ()
double	AngleUpdate (int dof_id) const
double	AngleUpdateNorm () const
void	Lock (int dof_id, double delta)
bool	ComputeNullProjection ()
void	Restrict (VectorXd &d_theta, MatrixXd &nullspace)
void	SubTask (IK_QJacobian &jacobian)

Detailed Description

Definition at line 13 of file IK_QJacobian.h.

Constructor & Destructor Documentation

IK_QJacobian()

IK_QJacobian::IK_QJacobian

(

)

Definition at line 13 of file IK_QJacobian.cpp.

References true.

Referenced by SubTask(), and ~IK_QJacobian().

~IK_QJacobian()

IK_QJacobian::~IK_QJacobian ( )

default

References IK_QJacobian(), size(), and v.

Member Function Documentation

AngleUpdate()

double IK_QJacobian::AngleUpdate

(

int

dof_id

)

const

Definition at line 402 of file IK_QJacobian.cpp.

Referenced by SubTask(), IK_QElbowSegment::UpdateAngle(), IK_QRevoluteSegment::UpdateAngle(), IK_QSphericalSegment::UpdateAngle(), IK_QSwingSegment::UpdateAngle(), and IK_QTranslateSegment::UpdateAngle().

AngleUpdateNorm()

double IK_QJacobian::AngleUpdateNorm

(

)

const

Definition at line 407 of file IK_QJacobian.cpp.

References fabs(), and i.

ArmMatrices()

void IK_QJacobian::ArmMatrices	(	int	dof,
		int	task_size )

Definition at line 17 of file IK_QJacobian.cpp.

ComputeNullProjection()

bool IK_QJacobian::ComputeNullProjection

(

)

Definition at line 114 of file IK_QJacobian.cpp.

References b, e, and i.

Referenced by SubTask().

Invert()

void IK_QJacobian::Invert

(

)

Definition at line 86 of file IK_QJacobian.cpp.

Referenced by SubTask().

Lock()

void IK_QJacobian::Lock	(	int	dof_id,
		double	delta )

Definition at line 389 of file IK_QJacobian.cpp.

References i.

Referenced by IK_QElbowSegment::Lock(), IK_QRevoluteSegment::Lock(), IK_QSphericalSegment::Lock(), IK_QSwingSegment::Lock(), and IK_QTranslateSegment::Lock().

Restrict()

void IK_QJacobian::Restrict	(	VectorXd &	d_theta,
		MatrixXd &	nullspace )

Definition at line 179 of file IK_QJacobian.cpp.

Referenced by SubTask().

SetBetas()

void IK_QJacobian::SetBetas	(	int	id,
		int	size,
		const Vector3d &	v )

Definition at line 70 of file IK_QJacobian.cpp.

References v.

Referenced by IK_QCenterOfMassTask::ComputeJacobian(), IK_QOrientationTask::ComputeJacobian(), and IK_QPositionTask::ComputeJacobian().

SetDerivatives()

void IK_QJacobian::SetDerivatives	(	int	id,
		int	dof_id,
		const Vector3d &	v,
		double	norm_weight )

Definition at line 77 of file IK_QJacobian.cpp.

References v.

Referenced by IK_QOrientationTask::ComputeJacobian(), and IK_QPositionTask::ComputeJacobian().

SetDoFWeight()

void IK_QJacobian::SetDoFWeight	(	int	dof,
		double	weight )

Definition at line 420 of file IK_QJacobian.cpp.

References sqrt.

SubTask()

void IK_QJacobian::SubTask

(

IK_QJacobian &

jacobian

)

Definition at line 158 of file IK_QJacobian.cpp.

References AngleUpdate(), ComputeNullProjection(), i, IK_QJacobian(), Invert(), and Restrict().

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

• IK_QJacobian.h
• IK_QJacobian.cpp