- 3.0.2 rigid body dynamics module.
Public Types | Public Member Functions | Public Attributes | List of all members
ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR > Class Template Referenceabstract
OperationalSpace

#include <JacobianBase.h>

Inheritance diagram for ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >:
ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR > ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS > ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR > TestJacobian ct::rbd::tpl::ConstraintJacobian< Kinematics, OUTPUTS, NJOINTS, SCALAR >

Public Types

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

 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< NUM_JOINTS, SCALAR > state_t
 

Detailed Description

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

Interface class for calculating Jacobain and its time derivative in an inertia frame (called as Origin frame).

Member Typedef Documentation

◆ jacobian_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>
typedef Eigen::Matrix<SCALAR, NUM_OUTPUTS, 6 + NUM_JOINTS> ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::jacobian_t

◆ jacobian_inv_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>
typedef Eigen::Matrix<SCALAR, 6 + NUM_JOINTS, NUM_OUTPUTS> ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::jacobian_inv_t

Constructor & Destructor Documentation

◆ JacobianBase()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>
ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::JacobianBase ( )
inline

◆ ~JacobianBase()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>
virtual ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::~JacobianBase ( )
inlinevirtual

Member Function Documentation

◆ getJacobianOrigin()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>
virtual void ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::getJacobianOrigin ( const state_t &  state,
jacobian_t &  J 
)
pure virtual

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

Parameters
stateState of the RBD
Jfloating-base Jacobian in the Origin frame

Referenced by ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, Scalar >::~JacobianBase().

◆ getJacobianOriginDerivative()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>
virtual void ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::getJacobianOriginDerivative ( const state_t &  state,
jacobian_t &  dJdt 
)
pure virtual

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

Parameters
stateState of the RBD
dJdtTime derivative of the floating-base Jacobian in the Origin frame

Referenced by ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, Scalar >::~JacobianBase().

Member Data Documentation

◆ state_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef RBDState<NUM_JOINTS, SCALAR> ct::rbd::tpl::JacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::state_t
The documentation for this class was generated from the following file: