KDL::Jacobian Class Reference

#include <jacobian.hpp>

Public Member Functions
	Jacobian (unsigned int size, unsigned int nr=1)
	Jacobian (const Jacobian &arg)
Jacobian &	operator= (const Jacobian &arg)
bool	operator== (const Jacobian &arg)
bool	operator!= (const Jacobian &arg)
	~Jacobian ()
double	operator() (int i, int j) const
double &	operator() (int i, int j)
unsigned int	rows () const
unsigned int	columns () const

Public Attributes
Twist *	twists

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

Detailed Description

Definition at line 32 of file jacobian.hpp.

Constructor & Destructor Documentation

Jacobian() [1/2]

KDL::Jacobian::Jacobian	(	unsigned int	size,
		unsigned int	nr = 1 )

Definition at line 29 of file jacobian.cpp.

References twists.

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

Jacobian() [2/2]

KDL::Jacobian::Jacobian

(

const Jacobian &

arg

)

Definition at line 35 of file jacobian.cpp.

References columns(), i, Jacobian(), and twists.

~Jacobian()

KDL::Jacobian::~Jacobian

(

)

Definition at line 54 of file jacobian.cpp.

References twists.

Member Function Documentation

columns()

unsigned int KDL::Jacobian::columns

(

)

const

Definition at line 76 of file jacobian.cpp.

Referenced by Equal, Jacobian(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), KDL::JntArray::MultiplyJacobian, and KDL::operator<<().

operator!=()

bool KDL::Jacobian::operator!=

(

const Jacobian &

arg

)

Definition at line 116 of file jacobian.cpp.

References Equal, and Jacobian().

operator()() [1/2]

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

Definition at line 65 of file jacobian.cpp.

References assert, floor, i, and twists.

operator()() [2/2]

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

Definition at line 59 of file jacobian.cpp.

References assert, floor, i, and twists.

operator=()

Jacobian & KDL::Jacobian::operator=

(

const Jacobian &

arg

)

Definition at line 44 of file jacobian.cpp.

References assert, i, Jacobian(), and twists.

operator==()

bool KDL::Jacobian::operator==

(

const Jacobian &

arg

)

Definition at line 111 of file jacobian.cpp.

References Equal, and Jacobian().

rows()

unsigned int KDL::Jacobian::rows

(

)

const

Definition at line 71 of file jacobian.cpp.

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

Friends And Related Symbol Documentation

ChainJntToJacSolver

friend class ChainJntToJacSolver

friend

Definition at line 34 of file jacobian.hpp.

References ChainJntToJacSolver.

Referenced by ChainJntToJacSolver.

changeBase

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

friend

Definition at line 95 of file jacobian.cpp.

References assert, i, Jacobian(), rot, and twists.

changeRefFrame

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

friend

Definition at line 103 of file jacobian.cpp.

References assert, i, Jacobian(), and twists.

changeRefPoint

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

friend

Definition at line 87 of file jacobian.cpp.

References assert, i, Jacobian(), KDL::Twist::RefPoint(), and twists.

Equal

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

friend

Definition at line 121 of file jacobian.cpp.

References b, columns(), eps, KDL::Equal(), i, Jacobian(), rows(), and twists.

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

SetToZero

void SetToZero ( Jacobian & jac )

friend

Definition at line 81 of file jacobian.cpp.

References i, Jacobian(), KDL::SetToZero(), and twists.

Member Data Documentation

twists

Twist* KDL::Jacobian::twists

Definition at line 39 of file jacobian.hpp.

Referenced by changeBase, changeRefFrame, changeRefPoint, Equal, Jacobian(), Jacobian(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), operator()(), operator()(), operator=(), SetToZero, and ~Jacobian().

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

• jacobian.hpp
• jacobian.cpp