RobWorkProject: JointDeviceJacobianCalculator Class Reference

Calculator for Jacobians of a JointDevice. More...

#include <JointDeviceJacobianCalculator.hpp>

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

virtual	~JointDeviceJacobianCalculator ()
	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 a JointDevice.

Implements Jacobian calculations for a JointDevice. Users should generally not construct a JointDeviceJacobianCalculator themselves by obtain one directly from a JointDevice.

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

JointDeviceJacobianCalculator	(	rw::core::Ptr< rw::models::JointDevice >	device,
		rw::core::Ptr< const 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

device	[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: