Package org.robwork.sdurw

Class JointDeviceJacobianCalculator

java.lang.Object

org.robwork.sdurw.JacobianCalculator

org.robwork.sdurw.JointDeviceJacobianCalculator

public class JointDeviceJacobianCalculator
extends JacobianCalculator

Calculator for Jacobians of a JointDevice

Implements Jacobian calculations for a JointDevice. Users should generally not construct a
JointDeviceJacobianCalculator themselves by obtain one directly from a JointDevice.

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	delete()
Jacobian	get(State state)	rw::kinematics::State& state) const
static long	getCPtr(JointDeviceJacobianCalculator 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

JointDeviceJacobianCalculator

public JointDeviceJacobianCalculator(long cPtr,
                                     boolean cMemoryOwn)

JointDeviceJacobianCalculator

public JointDeviceJacobianCalculator(JointDevicePtr device,
                                     Frame base,
                                     FrameVector tcps,
                                     State state)

Constructs JacobianCalculator.

The dimension of the jacobian wil be (tcps.size() * 6, device.getDOF()).

Parameters:

device - [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(JointDeviceJacobianCalculator obj)

delete

public void delete()

Overrides:

delete in class JacobianCalculator

get

public Jacobian get(State state)

rw::kinematics::State& state) const

Overrides:

get in class JacobianCalculator

Parameters:

state - [in] State for which to calculate the Jacobian

Returns:

Jacobian for state