KDL::Jacobian Class Reference

#include <jacobian.hpp>

List of all members.

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)

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Detailed Description

Definition at line 32 of file jacobian.hpp.

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Constructor & Destructor Documentation

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

Definition at line 29 of file jacobian.cpp.

References twists.

KDL::Jacobian::Jacobian

(

const Jacobian &

arg

)

Definition at line 35 of file jacobian.cpp.

References i, and twists.

KDL::Jacobian::~Jacobian

(

)

Definition at line 54 of file jacobian.cpp.

References twists.

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Member Function Documentation

unsigned int KDL::Jacobian::columns

(

)

const

Definition at line 76 of file jacobian.cpp.

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

bool KDL::Jacobian::operator!=

(

const Jacobian &

arg

)

Definition at line 116 of file jacobian.cpp.

References Equal.

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

Definition at line 59 of file jacobian.cpp.

References assert, and twists.

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

Definition at line 65 of file jacobian.cpp.

References assert, and twists.

Jacobian & KDL::Jacobian::operator=

(

const Jacobian &

arg

)

Definition at line 44 of file jacobian.cpp.

References assert, i, and twists.

bool KDL::Jacobian::operator==

(

const Jacobian &

arg

)

Definition at line 111 of file jacobian.cpp.

References Equal.

unsigned int KDL::Jacobian::rows

(

)

const

Definition at line 71 of file jacobian.cpp.

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

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Friends And Related Function Documentation

friend class ChainJntToJacSolver [friend]

Definition at line 34 of file jacobian.hpp.

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

Definition at line 95 of file jacobian.cpp.

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

Definition at line 103 of file jacobian.cpp.

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

Definition at line 87 of file jacobian.cpp.

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

Definition at line 121 of file jacobian.cpp.

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

void SetToZero

(

Jacobian &

jac

)

[friend]

Definition at line 81 of file jacobian.cpp.

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Member Data Documentation

Twist* KDL::Jacobian::twists

Definition at line 39 of file jacobian.hpp.

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

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

• jacobian.hpp
• jacobian.cpp