22 #ifndef KDL_JACOBIAN_HPP
23 #define KDL_JACOBIAN_HPP
30 class ChainJntToJacSolver;
37 unsigned int nr_blocks;
55 unsigned int rows()
const;
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers....
represents a frame transformation in 3D space (rotation + translation)
friend void changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
bool operator==(const Jacobian &arg)
double operator()(int i, int j) const
friend void SetToZero(Jacobian &jac)
friend void changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
unsigned int columns() const
friend bool Equal(const Jacobian &a, const Jacobian &b, double eps)
Jacobian(unsigned int size, unsigned int nr=1)
Jacobian & operator=(const Jacobian &arg)
bool operator!=(const Jacobian &arg)
unsigned int rows() const
friend void changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
represents rotations in 3 dimensional space.
represents both translational and rotational velocities.
A concrete implementation of a 3 dimensional vector class.
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
IMETHOD bool Equal(const VectorAcc &, const VectorAcc &, double=epsilon)
static const pxr::TfToken b("b", pxr::TfToken::Immortal)