#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 11 of file IK_QJacobian.cpp.

◆ ~IK_QJacobian()

IK_QJacobian::~IK_QJacobian ( )

Definition at line 13 of file IK_QJacobian.cpp.

Member Function Documentation

◆ AngleUpdate()

double IK_QJacobian::AngleUpdate ( int dof_id ) const

Definition at line 410 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 415 of file IK_QJacobian.cpp.

References fabs().

Referenced by IK_QJacobianSolver::Solve().

◆ ArmMatrices()

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

Definition at line 15 of file IK_QJacobian.cpp.

Referenced by IK_QJacobianSolver::Setup().

◆ ComputeNullProjection()

bool IK_QJacobian::ComputeNullProjection ( )

Definition at line 112 of file IK_QJacobian.cpp.

References b, and e.

Referenced by SubTask().

◆ Invert()

void IK_QJacobian::Invert ( )

Definition at line 84 of file IK_QJacobian.cpp.

Referenced by IK_QJacobianSolver::Solve(), and SubTask().

◆ Lock()

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

Definition at line 397 of file IK_QJacobian.cpp.

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 177 of file IK_QJacobian.cpp.

Referenced by SubTask().

◆ SetBetas()

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

Definition at line 68 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 75 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 430 of file IK_QJacobian.cpp.

References sqrt().