Package org.robwork.sdurw_models
Class JacobianCalculator
- java.lang.Object
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- org.robwork.sdurw_models.JacobianCalculator
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- Direct Known Subclasses:
DeviceJacobianCalculator
,JointDeviceJacobianCalculator
public class JacobianCalculator extends java.lang.Object
JacobianCalculator provides an interface for obtaining a Jacobian
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Constructor Summary
Constructors Constructor Description JacobianCalculator(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
Jacobian
get(State state)
Returns the Jacobian associated to statestatic long
getCPtr(JacobianCalculator obj)
Jacobian
getJacobian(State state)
Returns the Jacobian associated to state
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Method Detail
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getCPtr
public static long getCPtr(JacobianCalculator obj)
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delete
public void delete()
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get
public Jacobian get(State state)
Returns the Jacobian associated to state- Parameters:
state
- [in] State for which to calculate the Jacobian- Returns:
- Jacobian for state
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