22#ifndef KDL_JACOBIAN_HPP
23#define KDL_JACOBIAN_HPP
32 bool Equal(
const Jacobian& a,
const Jacobian& b,
double eps=epsilon);
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 Eigen::Matrix<double,6,Eigen::Dynamic>
data;
43 explicit Jacobian(
unsigned int nr_of_columns);
47 void resize(
unsigned int newNrOfColumns);
60 double operator()(
unsigned int i,
unsigned int j)
const;
61 double&
operator()(
unsigned int i,
unsigned int j);
62 unsigned int rows()
const;
Definition frames.hpp:570
Definition jacobian.hpp:37
~Jacobian()
Definition jacobian.cpp:49
void resize(unsigned int newNrOfColumns)
Allocates memory for new size (can break realtime behavior)
Definition jacobian.cpp:54
void setColumn(unsigned int i, const Twist &t)
Definition jacobian.cpp:148
friend bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
Definition jacobian.cpp:89
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
Definition jacobian.hpp:41
Jacobian()
Definition jacobian.cpp:26
double operator()(unsigned int i, unsigned int j) const
Definition jacobian.cpp:59
friend void SetToZero(Jacobian &jac)
Definition jacobian.cpp:79
unsigned int columns() const
Definition jacobian.cpp:74
friend bool changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
Definition jacobian.cpp:117
Twist getColumn(unsigned int i) const
Definition jacobian.cpp:144
bool operator==(const Jacobian &arg) const
Definition jacobian.cpp:126
bool operator!=(const Jacobian &arg) const
Definition jacobian.cpp:131
Jacobian & operator=(const Jacobian &arg)
Allocates memory if size of this and argument is different.
Definition jacobian.cpp:42
unsigned int rows() const
Definition jacobian.cpp:69
friend bool Equal(const Jacobian &a, const Jacobian &b, double eps)
Definition jacobian.cpp:136
friend bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
Definition jacobian.cpp:103
represents rotations in 3 dimensional space.
Definition frames.hpp:302
represents both translational and rotational velocities.
Definition frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:161
Definition articulatedbodyinertia.cpp:26
bool changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
Definition jacobian.cpp:117
void SetToZero(Jacobian &jac)
Definition jacobian.cpp:79
bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
Definition jacobian.cpp:103
bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
Definition jacobian.cpp:89
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)