RobWorkProject
24.5.15

JacobianCalculator provides an interface for obtaining a Jacobian. More...
#include <JacobianCalculator.hpp>
Inherited by DeviceJacobianCalculator, and JointDeviceJacobianCalculator.
Public Types  
typedef rw::core::Ptr< JacobianCalculator >  Ptr 
smart pointer type  
Public Member Functions  
virtual  ~JacobianCalculator () 
Destructor.  
virtual rw::math::Jacobian  get (const rw::kinematics::State &state) const =0 
Returns the Jacobian associated to state. More...  
JacobianCalculator provides an interface for obtaining a Jacobian.

pure virtual 
Returns the Jacobian associated to state.
state  [in] State for which to calculate the Jacobian 
Implemented in JointDeviceJacobianCalculator, and DeviceJacobianCalculator.