Blender  V3.3
Public Member Functions | Public Attributes | Friends | List of all members
KDL::Jacobian Class Reference

#include <jacobian.hpp>

Public Member Functions

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

Public Attributes

Twisttwists
 

Friends

class ChainJntToJacSolver
 
bool Equal (const Jacobian &a, const Jacobian &b, double eps)
 
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.

◆ Jacobian() [2/2]

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

Definition at line 35 of file jacobian.cpp.

References 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

◆ operator!=()

Definition at line 116 of file jacobian.cpp.

References Equal.

◆ operator()() [1/2]

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

Definition at line 65 of file jacobian.cpp.

References blender::math::floor(), and twists.

◆ operator()() [2/2]

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

Definition at line 59 of file jacobian.cpp.

References blender::math::floor(), and twists.

◆ operator=()

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

Definition at line 44 of file jacobian.cpp.

References twists.

◆ operator==()

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

Definition at line 111 of file jacobian.cpp.

References Equal.

◆ rows()

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

Definition at line 71 of file jacobian.cpp.

Referenced by KDL::operator<<().

Friends And Related Function Documentation

◆ ChainJntToJacSolver

friend class ChainJntToJacSolver
friend

Definition at line 34 of file jacobian.hpp.

◆ changeBase

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

Definition at line 95 of file jacobian.cpp.

◆ changeRefFrame

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

Definition at line 103 of file jacobian.cpp.

◆ changeRefPoint

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

Definition at line 87 of file jacobian.cpp.

◆ Equal

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

Definition at line 121 of file jacobian.cpp.

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

◆ SetToZero

void SetToZero ( Jacobian jac)
friend

Definition at line 81 of file jacobian.cpp.

Member Data Documentation

◆ twists

Twist* KDL::Jacobian::twists

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