#include <ConstraintJacobian.h>

Inheritance diagram for ct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR >:

Public Types
typedef OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::jacobian_t	jacobian_t

typedef Eigen::Matrix< SCALAR, 3, 3 >	Matrix3s

Public Types inherited from ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, 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
	ConstraintJacobian ()

virtual	~ConstraintJacobian ()

void	SetBlockZero (const int &row)

void	getJacobianOriginDerivativeNumdiff (const RBDState_t &state, jacobian_t &dJdt)

virtual void	getJacobianOriginDerivative (const RBDState_t &state, jacobian_t &dJdt) override

virtual void	getJacobianOrigin (const RBDState_t &state, jacobian_t &Jc) override

Public Member Functions inherited from ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, 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 ()

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

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

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef RBDState< NJOINTS, SCALAR >	RBDState_t

size_t	c_size_ = 0

std::vector< int >	ee_indices_

std::array< bool, Kinematics::NUM_EE >	eeInContact_

Public Attributes inherited from ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, 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

Static Public Attributes
static const size_t	BASE_DOF = 6

Additional Inherited Members
Protected Attributes inherited from ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >
jacobian_t	J_