#include <OperationalJacobianBase.h>

Inheritance diagram for ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >:

Public Types
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
	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 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
jacobian_t	J_

Detailed Description

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

This class provides extra functionalities for performing the operational space Jacobain matrix algebra. such as calculating the Moore-Penrose pseudo-inverse and Null space projectors.

Member Typedef Documentation

◆ state_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

typedef JacobianBase<NUM_OUTPUTS, NUM_JOINTS, SCALAR>::state_t ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::state_t

◆ jacobian_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

typedef JacobianBase<NUM_OUTPUTS, NUM_JOINTS, SCALAR>::jacobian_t ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::jacobian_t

◆ jacobian_inv_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

typedef JacobianBase<NUM_OUTPUTS, NUM_JOINTS, SCALAR>::jacobian_inv_t ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::jacobian_inv_t

◆ square_matrix_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

typedef Eigen::Matrix<SCALAR, 6 + NUM_JOINTS, 6 + NUM_JOINTS> ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::square_matrix_t

◆ MatrixXs

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::MatrixXs

Constructor & Destructor Documentation

◆ OperationalJacobianBase()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::OperationalJacobianBase ( )

inline

◆ ~OperationalJacobianBase()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

virtual ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::~OperationalJacobianBase ( )

inlinevirtual

Member Function Documentation

◆ updateState()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

void ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::updateState	(	const state_t &	state,
		const square_matrix_t &	weighting = `square_matrix_t::Identity()`
	)

inline

This function gets the RBD state and the the user defined weighting matrix in order to calculate the the floating-base Jacobian, its right pseudo-inverse, and null space and their corresponding time derivatives.

Parameters

state	State of the RBD
weighting	The weighting function for the calculating the pseudo-inverse and null space

◆ J()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

const jacobian_t& ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::J ( )

inline

This method gets the floating-base Jacobian.

Referenced by ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::JdagerLDLT(), ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::JdagerSVD(), ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::P(), and ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::resetUserUpdatedFlags().

◆ dJdt()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

const jacobian_t& ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::dJdt ( )

inline

This method gets the time derivative of the floating-base Jacobian.

Referenced by ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::dJdagerdt(), ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::dPdt(), and ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::resetUserUpdatedFlags().

◆ JdagerLDLT()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

const jacobian_inv_t& ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::JdagerLDLT ( )

inline

This method calculates the right inverse using W as the weighting matrix.

Referenced by ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::dJdagerdt(), ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::dPdt(), and ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::P().

◆ JdagerSVD()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

const jacobian_inv_t& ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::JdagerSVD ( )

inline

◆ dJdagerdt()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

const jacobian_inv_t& ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::dJdagerdt ( )

inline

This method calculates the time derivative of right inverse.

◆ P()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

const square_matrix_t& ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::P ( )

inline

This method calculates the null space projector.

Referenced by ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::dPdt().

◆ dPdt()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

const square_matrix_t& ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::dPdt ( )

inline

This method calculates the time derivative of the null space projector.

◆ resetUserUpdatedFlags()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

virtual void ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::resetUserUpdatedFlags ( )

inlinevirtual

A method for reseting the user defined flags. This function is called is the new state is set using the update() method

◆ getJacobianOrigin()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

virtual void ct::rbd::tpl::OperationalJacobianBase< 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

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

Implemented in TestJacobian.

Referenced by ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::J(), and ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::resetUserUpdatedFlags().

◆ getJacobianOriginDerivative()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

virtual void ct::rbd::tpl::OperationalJacobianBase< 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

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

Implemented in TestJacobian.

Referenced by ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::dJdt(), and ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::resetUserUpdatedFlags().

Member Data Documentation

◆ ptr

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr<OperationalJacobianBase<NUM_OUTPUTS, NUM_JOINTS, SCALAR> > ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::ptr

Referenced by TEST().

◆ J_

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS, typename SCALAR>

jacobian_t ct::rbd::tpl::OperationalJacobianBase< NUM_OUTPUTS, NUM_JOINTS, SCALAR >::J_

protected

Referenced by ct::rbd::tpl::OperationalJacobianBase< OUTPUTS, NJOINTS, SCALAR >::J().

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/OperationalJacobianBase.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ state_t

◆ jacobian_t

◆ jacobian_inv_t

◆ square_matrix_t

◆ MatrixXs

Constructor & Destructor Documentation

◆ OperationalJacobianBase()

◆ ~OperationalJacobianBase()

Member Function Documentation

◆ updateState()

◆ J()

◆ dJdt()

◆ JdagerLDLT()

◆ JdagerSVD()

◆ dJdagerdt()

◆ P()

◆ dPdt()

◆ resetUserUpdatedFlags()

◆ getJacobianOrigin()

◆ getJacobianOriginDerivative()

Member Data Documentation

◆ ptr

◆ J_

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