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Diffstat (limited to 'intern/itasc/kdl/jacobian.hpp')
-rw-r--r-- | intern/itasc/kdl/jacobian.hpp | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/intern/itasc/kdl/jacobian.hpp b/intern/itasc/kdl/jacobian.hpp new file mode 100644 index 00000000000..e9057451c9f --- /dev/null +++ b/intern/itasc/kdl/jacobian.hpp @@ -0,0 +1,68 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_JACOBIAN_HPP +#define KDL_JACOBIAN_HPP + +#include "frames.hpp" + +namespace KDL +{ + //Forward declaration + class ChainJntToJacSolver; + + class Jacobian + { + friend class ChainJntToJacSolver; + private: + unsigned int size; + unsigned int nr_blocks; + public: + Twist* twists; + Jacobian(unsigned int size,unsigned int nr=1); + Jacobian(const Jacobian& arg); + + Jacobian& operator=(const Jacobian& arg); + + bool operator ==(const Jacobian& arg); + bool operator !=(const Jacobian& arg); + + friend bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon); + + + ~Jacobian(); + + double operator()(int i,int j)const; + double& operator()(int i,int j); + unsigned int rows()const; + unsigned int columns()const; + + friend void SetToZero(Jacobian& jac); + + friend void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest); + friend void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest); + friend void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest); + + + }; +} + +#endif |