Inheritance diagram for TestJacobian:

Public Types
typedef ct::rbd::OperationalJacobianBase< 3, 12 >	Base

typedef Base::state_t	state_t

typedef Base::jacobian_t	origin_jacobian_t

Public Types inherited from ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
typedef JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::state_t	state_t

typedef JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::jacobian_t	jacobian_t

typedef JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::jacobian_inv_t	jacobian_inv_t

typedef Eigen::Matrix< SCALAR, 6+NUM_JOINTS, 6+NUM_JOINTS >	square_matrix_t

typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs

Public Types inherited from ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
typedef Eigen::Matrix< SCALAR, NUM_OUTPUTS, 6+NUM_JOINTS >	jacobian_t

typedef Eigen::Matrix< SCALAR, 6+NUM_JOINTS, NUM_OUTPUTS >	jacobian_inv_t

Public Member Functions
	TestJacobian ()

	~TestJacobian ()

void	getJacobianOrigin (const state_t &state, origin_jacobian_t &J) override

void	getJacobianOriginDerivative (const state_t &state, origin_jacobian_t &dJdt) override

Public Member Functions inherited from ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
	OperationalJacobianBase ()

virtual	~OperationalJacobianBase ()

void	updateState (const state_t &state, const square_matrix_t &weighting=square_matrix_t::Identity())

const jacobian_t &	J ()
	This method gets the floating-base Jacobian. More...

const jacobian_t &	dJdt ()
	This method gets the time derivative of the floating-base Jacobian. More...

const jacobian_inv_t &	JdagerLDLT ()
	This method calculates the right inverse using W as the weighting matrix. More...

const jacobian_inv_t &	JdagerSVD ()

const jacobian_inv_t &	dJdagerdt ()
	This method calculates the time derivative of right inverse. More...

const square_matrix_t &	P ()
	This method calculates the null space projector. More...

const square_matrix_t &	dPdt ()
	This method calculates the time derivative of the null space projector. More...

virtual void	resetUserUpdatedFlags ()

Public Member Functions inherited from ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
	JacobianBase ()

virtual	~JacobianBase ()

virtual void	getJacobianOrigin (const state_t &state, jacobian_t &J)=0

virtual void	getJacobianOriginDerivative (const state_t &state, jacobian_t &dJdt)=0

Additional Inherited Members
Public Attributes inherited from ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR > >	ptr

Public Attributes inherited from ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef RBDState< NUM_JOINTS, SCALAR >	state_t

Protected Attributes inherited from ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >
jacobian_t	J_

Member Typedef Documentation

◆ Base

TestJacobian::TestJacobian ( )

inline

TestJacobian::~TestJacobian ( )

inline

void TestJacobian::getJacobianOrigin	(	const state_t &	state,
		origin_jacobian_t &	J
	)

inlineoverridevirtual

This methods calculates the Jacobian of the floating-base Jacobian in the Origin (World or Inertia) frame.

Parameters

state	State of the RBD
J	floating-base Jacobian in the Origin frame

void TestJacobian::getJacobianOriginDerivative	(	const state_t &	state,
		origin_jacobian_t &	dJdt
	)

inlineoverridevirtual

This methods calculates the time derivative of the Jacobian of the floating-base function in the Origin (World or Inertia) frame.

Parameters

state	State of the RBD
dJdt	Time derivative of the floating-base Jacobian in the Origin frame

The documentation for this class was generated from the following file:

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/test/operationalSpace/OperationalSpaceTest.cpp