DeviceJacobianCalculator (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw.JacobianCalculator
- - org.robwork.sdurw.DeviceJacobianCalculator

```
public class DeviceJacobianCalculator
extends JacobianCalculator
```
Calculator for Jacobians of one or several Devices.

Implements Jacobian calculations for one or several Devices.

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

Constructor Summary

Constructors
Constructor	Description
`DeviceJacobianCalculator(long cPtr, boolean cMemoryOwn)`
`DeviceJacobianCalculator(DevicePtrVector devices, Frame base, FrameVector tcps, State state)`	Constructs JacobianCalculator. The dimension of the jacobian wil be (tcps.size() * 6, device.getDOF()).

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`Jacobian`	`get(State state)`	State&) const
`static long`	`getCPtr(DeviceJacobianCalculator obj)`

Methods inherited from class org.robwork.sdurw.JacobianCalculator
getCPtr, getJacobian

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - DeviceJacobianCalculator
```
public DeviceJacobianCalculator(long cPtr,
                                boolean cMemoryOwn)
```
  - DeviceJacobianCalculator
```
public DeviceJacobianCalculator(DevicePtrVector devices,
                                Frame base,
                                FrameVector tcps,
                                State state)
```
    Constructs JacobianCalculator.
    
    The dimension of the jacobian wil be (tcps.size() * 6, device.getDOF()).
    
    Parameters:
    
    devices - [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
- Method Detail
  - getCPtr
```
public static long getCPtr(DeviceJacobianCalculator obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class JacobianCalculator
  - get
```
public Jacobian get(State state)
```
    State&) const
    
    Overrides:
    
    get in class JacobianCalculator
    
    Parameters:
    
    state - [in] State for which to calculate the Jacobian
    
    Returns:
    
    Jacobian for state