Blender V2.61 - r43446

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)
Jacobianoperator= (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

Twisttwists

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)

Detailed Description

Definition at line 32 of file jacobian.hpp.


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.


Member Function Documentation

unsigned int KDL::Jacobian::columns ( ) const
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<<().


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.


Member Data Documentation


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