This class provides methods for converting the non-inertia base frame Jacobian matrix to an user defined inertia frame (called as inertia frame). More...

#include <FrameJacobian.h>

Public Types
typedef Eigen::Matrix< SCALAR, 3, 1 >	Vector3s

Public Member Functions
	FrameJacobian ()

	~FrameJacobian ()

Static Public Member Functions
static void	FromBaseJacobianToInertiaJacobian (const Matrix3s &i_R_b, const Vector3s &b_r_point, const Eigen::Matrix< SCALAR, 6, NUM_JOINTS > &b_J_point, Eigen::Matrix< SCALAR, 6, NUM_JOINTS+6 > &i_J_point)

static void	FromBaseJacToInertiaJacOrientation (const Matrix3s &i_R_b, const Vector3s &b_r_point, const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &b_J_point, Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &i_J_point)

static void	FromBaseJacToInertiaJacTranslation (const Matrix3s &i_R_b, const Vector3s &b_r_point, const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &b_J_point, Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &i_J_point)

static void	FromBaseJacobianDevToInertiaJacobianDev (const Eigen::Matrix< SCALAR, NUM_JOINTS+6, 1 > &generalizedVelocities, const Matrix3s &i_R_b, const Vector3s &b_r_point, const Eigen::Matrix< SCALAR, 6, NUM_JOINTS > &b_J_point, const Eigen::Matrix< SCALAR, 6, NUM_JOINTS > &b_dJdt_point, Eigen::Matrix< SCALAR, 6, NUM_JOINTS+6 > &i_dJdt_point)

static void	FromBaseJacobianDevToInertiaJacobianDevOrientation (const Eigen::Matrix< SCALAR, NUM_JOINTS+6, 1 > &generalizedVelocities, const Matrix3s &i_R_b, const Vector3s &b_r_point, const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &b_J_point, const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &b_dJdt_point, Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &i_dJdt_point)

static void	FromBaseJacobianDevToInertiaJacobianDevTranslation (const Eigen::Matrix< SCALAR, NUM_JOINTS+6, 1 > &generalizedVelocities, const Matrix3s &i_R_b, const Vector3s &b_r_point, const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &b_J_point, const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &b_dJdt_point, Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &i_dJdt_point)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< SCALAR, 3, 3 >	Matrix3s

Detailed Description

template<size_t NUM_JOINTS, typename SCALAR>
class ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >

This class provides methods for converting the non-inertia base frame Jacobian matrix to an user defined inertia frame (called as inertia frame).

Member Typedef Documentation

◆ Vector3s

template<size_t NUM_JOINTS, typename SCALAR >

typedef Eigen::Matrix<SCALAR, 3, 1> ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::Vector3s

Constructor & Destructor Documentation

◆ FrameJacobian()

template<size_t NUM_JOINTS, typename SCALAR >

ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FrameJacobian ( )

inline

◆ ~FrameJacobian()

template<size_t NUM_JOINTS, typename SCALAR >

ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::~FrameJacobian ( )

inline

Member Function Documentation

◆ FromBaseJacobianToInertiaJacobian()

template<size_t NUM_JOINTS, typename SCALAR >

static void ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianToInertiaJacobian	(	const Matrix3s &	i_R_b,
		const Vector3s &	b_r_point,
		const Eigen::Matrix< SCALAR, 6, NUM_JOINTS > &	b_J_point,
		Eigen::Matrix< SCALAR, 6, NUM_JOINTS+6 > &	i_J_point
	)

inlinestatic

This method calculates the inertia frame (frame i) Jacobian (rotational and translation part) given the non-inertia base frame full Jacobian (frame b).

Parameters

[in]	i_R_b	Rotation matrix from base frame to the desired inertia frame.
[in]	b_r_point	Position of the desired inertia frame origin expressed in the base frame.
[in]	b_J_point	A 6-by-NUM_JOINTS Jacobian matrix (rotational and translation part) expressed in the base frame.
[out]	i_J_point	A 6-by-(6+NUM_JOINTS) Jacobian matrix (rotational and linear translation) expressed in the desired inertia frame.

References ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacToInertiaJacOrientation(), and ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacToInertiaJacTranslation().

◆ FromBaseJacToInertiaJacOrientation()

template<size_t NUM_JOINTS, typename SCALAR >

static void ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacToInertiaJacOrientation	(	const Matrix3s &	i_R_b,
		const Vector3s &	b_r_point,
		const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &	b_J_point,
		Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &	i_J_point
	)

inlinestatic

This method calculates the inertia frame (frame i) rotational Jacobian given the non-inertia frame rotational Jacobian (frame b).

Parameters

[in]	i_R_b	Rotation matrix from base frame to the desired inertia frame.
[in]	b_r_point	Position of the desired inertia frame origin expressed in the base frame.
[in]	b_J_point	A 3-by-NUM_JOINTS rotational Jacobian matrix expressed in the base frame.
[out]	i_J_point	A 3-by-(6+NUM_JOINTS) rotational Jacobian matrix expressed in the desired inertia frame.

Referenced by ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianToInertiaJacobian().

◆ FromBaseJacToInertiaJacTranslation()

template<size_t NUM_JOINTS, typename SCALAR >

static void ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacToInertiaJacTranslation	(	const Matrix3s &	i_R_b,
		const Vector3s &	b_r_point,
		const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &	b_J_point,
		Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &	i_J_point
	)

inlinestatic

This method calculates the inertia frame (frame i) translational Jacobian given the non-inertia base frame translation Jacobian (frame b).

Parameters

[in]	i_R_b	Rotation matrix from base frame to the desired inertia frame.
[in]	b_r_point	Position of the desired inertia frame origin expressed in the base frame.
[in]	b_J_point	A 3-by-NUM_JOINTS translational Jacobian matrix expressed in the base frame.
[out]	i_J_point	A 3-by-(6+NUM_JOINTS) translational Jacobian matrix expressed in the desired inertia frame.

Referenced by ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianToInertiaJacobian(), ct::rbd::tpl::ConstraintJacobian< ct::rbd::Kinematics< RBD, NEE >, MAX_JAC_SIZE, NJOINTS, Scalar >::getJacobianOrigin(), and ct::rbd::tpl::OperationalModelRBD< RBDContainer, NUM_CONTACTPOINTS, SCALAR >::update().

◆ FromBaseJacobianDevToInertiaJacobianDev()

template<size_t NUM_JOINTS, typename SCALAR >

static void ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianDevToInertiaJacobianDev	(	const Eigen::Matrix< SCALAR, NUM_JOINTS+6, 1 > &	generalizedVelocities,
		const Matrix3s &	i_R_b,
		const Vector3s &	b_r_point,
		const Eigen::Matrix< SCALAR, 6, NUM_JOINTS > &	b_J_point,
		const Eigen::Matrix< SCALAR, 6, NUM_JOINTS > &	b_dJdt_point,
		Eigen::Matrix< SCALAR, 6, NUM_JOINTS+6 > &	i_dJdt_point
	)

inlinestatic

This method calculates the time derivative of the inertia frame (frame i) Jacobian (rotational and translation part) given the non-inertia base frame Jacobian (frame b).

Parameters

[in]	generalizedVelocities	Generalized coordinate velocities.
[in]	i_R_b	Rotation matrix from base frame to the desired inertia frame.
[in]	b_r_point	Position of the desired inertia frame origin expressed in the base frame.
[in]	b_J_point	A 6-by-NUM_JOINTS Jacobian matrix (rotational and translation part) expressed in the base frame.
[in]	b_dJdt_point	A 6-by-NUM_JOINTS Jacobian matrix time derivative (rotational and translation part) expressed in the base frame.
[out]	i_dJdt_point	A 6-by-(6+NUM_JOINTS) Jacobian matrix time derivative (rotational and translation part) expressed in the desired inertia frame.

References ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianDevToInertiaJacobianDevOrientation(), and ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianDevToInertiaJacobianDevTranslation().

◆ FromBaseJacobianDevToInertiaJacobianDevOrientation()

template<size_t NUM_JOINTS, typename SCALAR >

static void ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianDevToInertiaJacobianDevOrientation	(	const Eigen::Matrix< SCALAR, NUM_JOINTS+6, 1 > &	generalizedVelocities,
		const Matrix3s &	i_R_b,
		const Vector3s &	b_r_point,
		const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &	b_J_point,
		const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &	b_dJdt_point,
		Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &	i_dJdt_point
	)

inlinestatic

This method calculates the time derivative of the inertia frame (frame i) rotational Jacobian given the non-inertia base frame rotational Jacobian (frame b).

Parameters

[in]	generalizedVelocities	Generalized coordinate velocities.
[in]	i_R_b	Rotation matrix from base frame to the desired inertia frame.
[in]	b_r_point	Position of the desired inertia frame origin expressed in the base frame.
[in]	b_J_point	A 6-by-NUM_JOINTS rotational Jacobian matrix expressed in the base frame.
[in]	b_dJdt_point	A 6-by-NUM_JOINTS rotational Jacobian matrix time derivative expressed in the base frame.
[out]	i_dJdt_point	A 6-by-(6+NUM_JOINTS) rotational Jacobian matrix time derivative expressed in the desired inertia frame.

Referenced by ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianDevToInertiaJacobianDev().

◆ FromBaseJacobianDevToInertiaJacobianDevTranslation()

template<size_t NUM_JOINTS, typename SCALAR >

static void ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianDevToInertiaJacobianDevTranslation	(	const Eigen::Matrix< SCALAR, NUM_JOINTS+6, 1 > &	generalizedVelocities,
		const Matrix3s &	i_R_b,
		const Vector3s &	b_r_point,
		const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &	b_J_point,
		const Eigen::Matrix< SCALAR, 3, NUM_JOINTS > &	b_dJdt_point,
		Eigen::Matrix< SCALAR, 3, NUM_JOINTS+6 > &	i_dJdt_point
	)

inlinestatic

This method calculates the time derivative of the inertia frame (frame i) translational Jacobian given the non-inertia base frame rotational Jacobian (frame b).

Parameters

[in]	generalizedVelocities	Generalized coordinate velocities.
[in]	i_R_b	Rotation matrix from base frame to the desired inertia frame.
[in]	b_r_point	Position of the desired inertia frame origin expressed in the base frame.
[in]	b_J_point	A 6-by-NUM_JOINTS translational Jacobian matrix expressed in the base frame.
[in]	b_dJdt_point	A 6-by-NUM_JOINTS translational Jacobian matrix time derivative expressed in the base frame.
[out]	i_dJdt_point	A 6-by-(6+NUM_JOINTS) translational Jacobian matrix time derivative expressed in the desired inertia frame.

Referenced by ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::FromBaseJacobianDevToInertiaJacobianDev().

Member Data Documentation

◆ Matrix3s

template<size_t NUM_JOINTS, typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<SCALAR, 3, 3> ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >::Matrix3s

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/jacobian/FrameJacobian.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

template<size_t NUM_JOINTS, typename SCALAR> class ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >

Member Typedef Documentation

◆ Vector3s

Constructor & Destructor Documentation

◆ FrameJacobian()

◆ ~FrameJacobian()

Member Function Documentation

◆ FromBaseJacobianToInertiaJacobian()

◆ FromBaseJacToInertiaJacOrientation()

◆ FromBaseJacToInertiaJacTranslation()

◆ FromBaseJacobianDevToInertiaJacobianDev()

◆ FromBaseJacobianDevToInertiaJacobianDevOrientation()

◆ FromBaseJacobianDevToInertiaJacobianDevTranslation()

Member Data Documentation

◆ Matrix3s

template<size_t NUM_JOINTS, typename SCALAR>
class ct::rbd::tpl::FrameJacobian< NUM_JOINTS, SCALAR >