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// 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
#include "jacobian.hpp"
namespace KDL
{
Jacobian::Jacobian(unsigned int _size,unsigned int _nr_blocks):
size(_size),nr_blocks(_nr_blocks)
{
twists = new Twist[size*nr_blocks];
}
Jacobian::Jacobian(const Jacobian& arg):
size(arg.columns()),
nr_blocks(arg.nr_blocks)
{
twists = new Twist[size*nr_blocks];
for(unsigned int i=0;i<size*nr_blocks;i++)
twists[i] = arg.twists[i];
}
Jacobian& Jacobian::operator = (const Jacobian& arg)
{
assert(size==arg.size);
assert(nr_blocks==arg.nr_blocks);
for(unsigned int i=0;i<size;i++)
twists[i]=arg.twists[i];
return *this;
}
Jacobian::~Jacobian()
{
delete [] twists;
}
double Jacobian::operator()(int i,int j)const
{
assert(i<6*(int)nr_blocks&&j<(int)size);
return twists[j+6*(int)(floor((double)i/6))](i%6);
}
double& Jacobian::operator()(int i,int j)
{
assert(i<6*(int)nr_blocks&&j<(int)size);
return twists[j+6*(int)(floor((double)i/6))](i%6);
}
unsigned int Jacobian::rows()const
{
return 6*nr_blocks;
}
unsigned int Jacobian::columns()const
{
return size;
}
void SetToZero(Jacobian& jac)
{
for(unsigned int i=0;i<jac.size*jac.nr_blocks;i++)
SetToZero(jac.twists[i]);
}
void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest)
{
assert(src1.size==dest.size);
assert(src1.nr_blocks==dest.nr_blocks);
for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
dest.twists[i]=src1.twists[i].RefPoint(base_AB);
}
void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest)
{
assert(src1.size==dest.size);
assert(src1.nr_blocks==dest.nr_blocks);
for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
dest.twists[i]=rot*src1.twists[i];
}
void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest)
{
assert(src1.size==dest.size);
assert(src1.nr_blocks==dest.nr_blocks);
for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
dest.twists[i]=frame*src1.twists[i];
}
bool Jacobian::operator ==(const Jacobian& arg)
{
return Equal((*this),arg);
}
bool Jacobian::operator!=(const Jacobian& arg)
{
return !Equal((*this),arg);
}
bool Equal(const Jacobian& a,const Jacobian& b,double eps)
{
if(a.rows()==b.rows()&&a.columns()==b.columns()){
bool rc=true;
for(unsigned int i=0;i<a.columns();i++)
rc&=Equal(a.twists[i],b.twists[i],eps);
return rc;
}else
return false;
}
}
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