KDL 1.5.1
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KDL::Jacobian Class Reference

#include <src/jacobian.hpp>

Public Member Functions

 Jacobian ()
 
 Jacobian (unsigned int nr_of_columns)
 
 Jacobian (const Jacobian &arg)
 
void resize (unsigned int newNrOfColumns)
 Allocates memory for new size (can break realtime behavior)
 
Jacobianoperator= (const Jacobian &arg)
 Allocates memory if size of this and argument is different.
 
bool operator== (const Jacobian &arg) const
 
bool operator!= (const Jacobian &arg) const
 
 ~Jacobian ()
 
double operator() (unsigned int i, unsigned int j) const
 
double & operator() (unsigned int i, unsigned int j)
 
unsigned int rows () const
 
unsigned int columns () const
 
Twist getColumn (unsigned int i) const
 
void setColumn (unsigned int i, const Twist &t)
 
void changeRefPoint (const Vector &base_AB)
 
void changeBase (const Rotation &rot)
 
void changeRefFrame (const Frame &frame)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
 

Friends

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

Constructor & Destructor Documentation

◆ Jacobian() [1/3]

KDL::Jacobian::Jacobian ( )

◆ Jacobian() [2/3]

KDL::Jacobian::Jacobian ( unsigned int nr_of_columns)
explicit

References data.

◆ Jacobian() [3/3]

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

◆ ~Jacobian()

KDL::Jacobian::~Jacobian ( )

Member Function Documentation

◆ changeBase()

void KDL::Jacobian::changeBase ( const Rotation & rot)

References data, getColumn(), and setColumn().

◆ changeRefFrame()

void KDL::Jacobian::changeRefFrame ( const Frame & frame)

References data, getColumn(), and setColumn().

◆ changeRefPoint()

void KDL::Jacobian::changeRefPoint ( const Vector & base_AB)

References data, getColumn(), and setColumn().

◆ columns()

◆ getColumn()

◆ operator!=()

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

References Equal.

◆ operator()() [1/2]

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

References data.

◆ operator()() [2/2]

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

References data.

◆ operator=()

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

Allocates memory if size of this and argument is different.

References data.

◆ operator==()

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

References Equal.

◆ resize()

◆ rows()

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

◆ setColumn()

Friends And Related Symbol Documentation

◆ changeBase

bool changeBase ( const Jacobian & src1,
const Rotation & rot,
Jacobian & dest )
friend

◆ changeRefFrame

bool changeRefFrame ( const Jacobian & src1,
const Frame & frame,
Jacobian & dest )
friend

◆ changeRefPoint

bool changeRefPoint ( const Jacobian & src1,
const Vector & base_AB,
Jacobian & dest )
friend

◆ Equal

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

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

◆ SetToZero

void SetToZero ( Jacobian & jac)
friend

Member Data Documentation

◆ data


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