Class Jacobian


  • public class Jacobian
    extends java.lang.Object
    • Constructor Summary

      Constructors 
      Constructor Description
      Jacobian​(long n)
      Creates an empty 6\times n (uninitialized) Jacobian matrix

      Jacobian​(long cPtr, boolean cMemoryOwn)  
      Jacobian​(long m, long n)
      Creates an empty m\times n (uninitialized) Jacobian matrix

      Jacobian​(Rotation3Dd aRb)
      Creates the velocity transform jacobian
      \robabcdx{a}{b}{i}{i}{\bf{J_v}}
      for transforming a velocity screw from one frame of reference b to
      another frame a

      Jacobian​(Transform3Dd aTb)
      Creates the velocity transform jacobian
      \robabcdx{a}{b}{a}{b}{\bf{J_v}}
      for transforming both the reference frame and the velocity
      reference point from one frame b to another frame a

      Jacobian​(Vector3Dd aPb)
      Creates the velocity transform jacobian
      \robabcdx{i}{i}{b}{a}{\bf{J}_v}
      for transforming the reference point of a velocity screw from one
      frame b to another frame a

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void addPosition​(Vector3Dd part, long row, long col)
      add position jacobian to a specific row and column in this jacobian
      void addRotation​(Vector3Dd part, long row, long col)
      add rotation jacobian to a specific row and column in this jacobian
      void delete()  
      EigenMatrixXd e()
      Accessor for the internal Eigen matrix state.
      SWIGTYPE_p_double elem​(int i, int j)
      Get an element of the jacobian.


      double get​(long row, long column)  
      static long getCPtr​(Jacobian obj)  
      void set​(long row, long column, double d)  
      long size1()  
      long size2()  
      java.lang.String toString()  
      static Jacobian zero​(long size1, long size2)
      Construct zero initialized Jacobian.
      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
    • Constructor Detail

      • Jacobian

        public Jacobian​(long cPtr,
                        boolean cMemoryOwn)
      • Jacobian

        public Jacobian​(long m,
                        long n)
        Creates an empty m\times n (uninitialized) Jacobian matrix

        Parameters:
        m - [in] number of rows

        n - [in] number of columns
      • Jacobian

        public Jacobian​(long n)
        Creates an empty 6\times n (uninitialized) Jacobian matrix

        Parameters:
        n - [in] number of columns
      • Jacobian

        public Jacobian​(Transform3Dd aTb)
        Creates the velocity transform jacobian
        \robabcdx{a}{b}{a}{b}{\bf{J_v}}
        for transforming both the reference frame and the velocity
        reference point from one frame b to another frame a

        Parameters:
        aTb - [in] \robabx{a}{b}{\bf{T}}

        Note: \robabcdx{a}{b}{a}{b}{\bf{J_v}}

        \robabcdx{a}{b}{a}{b}{\bf{J_v}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}} S(\robabx{a}{b}{\mathbf{d}})\robabx{a}{b}{\mathbf{R}} \\ \mathbf{0}^{3x3} \robabx{a}{b}{\mathbf{R}} \end{array} \right]

        Change the frame of reference from b to frame a and reference point
        from frame a to frame b:
        \robabx{a}{b}{\bf{J}} = \robabcdx{a}{b}{a}{b}{\bf{J}_v} \cdot \robabx{b}{a}{\bf{J}}
      • Jacobian

        public Jacobian​(Rotation3Dd aRb)
        Creates the velocity transform jacobian
        \robabcdx{a}{b}{i}{i}{\bf{J_v}}
        for transforming a velocity screw from one frame of reference b to
        another frame a

        Parameters:
        aRb - [in] \robabx{a}{b}{\bf{R}}

        Note: \robabcdx{a}{b}{i}{i}{\bf{J}_v}

        \robabcdx{a}{b}{i}{i}{\bf{J_v}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}} \mathbf{0}^{3x3} \\ \mathbf{0}^{3x3} \robabx{a}{b}{\mathbf{R}} \end{array} \right]

        Change the frame of reference from b to frame a :
        \robabx{a}{c}{\bf{J}} = \robabcdx{a}{b}{c}{c}{\bf{J}_v} \cdot \robabx{b}{c}{\bf{J}}
      • Jacobian

        public Jacobian​(Vector3Dd aPb)
        Creates the velocity transform jacobian
        \robabcdx{i}{i}{b}{a}{\bf{J}_v}
        for transforming the reference point of a velocity screw from one
        frame b to another frame a

        Parameters:
        aPb - [in] \robabx{a}{b}{\bf{P}}

        Note: \robabcdx{i}{i}{b}{a}{\bf{J}_v}

        \robabcdx{i}{i}{b}{a}{\bf{J}_v} = \left[ \begin{array}{cc} \bf{I}^{3x3} S(\robabx{a}{b}{\bf{P}}) \\ \bf{0}^{3x3} \bf{I}^{3x3} \end{array} \right]

        transforming the reference point of a Jacobian from
        frame c to frame d :
        \robabx{a}{d}{\mathbf{J}} = \robabcdx{a}{a}{c}{d}{\mathbf{J_v}} \cdot \robabx{a}{c}{\mathbf{J}}
    • Method Detail

      • getCPtr

        public static long getCPtr​(Jacobian obj)
      • delete

        public void delete()
      • size1

        public long size1()
      • size2

        public long size2()
      • zero

        public static Jacobian zero​(long size1,
                                    long size2)
        Construct zero initialized Jacobian.
        Parameters:
        size1 - [in] number of rows.
        size2 - [in] number of columns.
        Returns:
        zero-initialized jacobian.
      • e

        public EigenMatrixXd e()
        Accessor for the internal Eigen matrix state.
      • elem

        public SWIGTYPE_p_double elem​(int i,
                                      int j)
        Get an element of the jacobian.


        Returns:
        reference to the element.
      • addRotation

        public void addRotation​(Vector3Dd part,
                                long row,
                                long col)
        add rotation jacobian to a specific row and column in this jacobian
        Parameters:
        part -
        row -
        col -
      • addPosition

        public void addPosition​(Vector3Dd part,
                                long row,
                                long col)
        add position jacobian to a specific row and column in this jacobian
        Parameters:
        part -
        row -
        col -
      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object
      • get

        public double get​(long row,
                          long column)
      • set

        public void set​(long row,
                        long column,
                        double d)