forked from bartvdbraak/blender
69 lines
2.2 KiB
C++
69 lines
2.2 KiB
C++
|
// 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
|