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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
#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
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