Package org.robwork.sdurw_models
Class JointDeviceJacobianCalculator
- java.lang.Object
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- org.robwork.sdurw_models.JacobianCalculator
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- org.robwork.sdurw_models.JointDeviceJacobianCalculator
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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.
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Constructor Summary
Constructors Constructor Description JointDeviceJacobianCalculator(long cPtr, boolean cMemoryOwn)
JointDeviceJacobianCalculator(JointDevicePtr device, FrameCPtr base, FrameVector tcps, State state)
Constructs JacobianCalculator.
The dimension of the jacobian wil be (tcps.size() * 6, device.getDOF()).
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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)
rw::kinematics::State& state) conststatic long
getCPtr(JointDeviceJacobianCalculator obj)
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Methods inherited from class org.robwork.sdurw_models.JacobianCalculator
getCPtr, getJacobian
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Constructor Detail
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JointDeviceJacobianCalculator
public JointDeviceJacobianCalculator(long cPtr, boolean cMemoryOwn)
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JointDeviceJacobianCalculator
public JointDeviceJacobianCalculator(JointDevicePtr device, FrameCPtr 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 forbase
- [in] Reference base of the Jacobian. Does not have to be the same as the base
of the devicetcps
- [in] List of tool end-effectors for which to calculate the Jacobian.state
- [in] State giving how frame are connected
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Method Detail
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getCPtr
public static long getCPtr(JointDeviceJacobianCalculator obj)
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delete
public void delete()
- Overrides:
delete
in classJacobianCalculator
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get
public Jacobian get(State state)
rw::kinematics::State& state) const- Overrides:
get
in classJacobianCalculator
- Parameters:
state
- [in] State for which to calculate the Jacobian- Returns:
- Jacobian for state
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