RobWorkProject: DeviceJacobianCalculator Class Reference

Calculator for Jacobians of one or several Devices. More...

#include <DeviceJacobianCalculator.hpp>

Public Member Functions
	DeviceJacobianCalculator (std::vector< rw::core::Ptr< rw::models::Device >> devices, const rw::core::Ptr< rw::kinematics::Frame > base, const std::vector< rw::kinematics::Frame * > &tcps, const rw::kinematics::State &state)
	Constructs JacobianCalculator. More...

virtual	~DeviceJacobianCalculator ()
	Destructor.

virtual rw::math::Jacobian	get (const rw::kinematics::State &state) const
	Returns the Jacobian associated to state. More...

Public Member Functions inherited from JacobianCalculator
virtual	~JacobianCalculator ()
	Destructor.

Additional Inherited Members
Public Types inherited from JacobianCalculator
typedef rw::core::Ptr< JacobianCalculator >	Ptr
	smart pointer type

Detailed Description

Calculator for Jacobians of one or several Devices.

Implements Jacobian calculations for one or several Devices.

If more than one end-effector is given a "stacked" Jacobian is returned.

DeviceJacobianCalculator	(	std::vector< rw::core::Ptr< rw::models::Device >>	devices,
		const rw::core::Ptr< rw::kinematics::Frame >	base,
		const std::vector< rw::kinematics::Frame * > &	tcps,
		const rw::kinematics::State &	state
	)

The dimension of the jacobian wil be (tcps.size() * 6, device.getDOF()).

Parameters

devices	[in] The device to calculate for
base	[in] Reference base of the Jacobian. Does not have to be the same as the base of the device
tcps	[in] List of tool end-effectors for which to calculate the Jacobian.
state	[in] State giving how frame are connected

virtual rw::math::Jacobian get ( const rw::kinematics::State & state ) const

virtual

Returns the Jacobian associated to state.

Parameters

state [in] State for which to calculate the Jacobian

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