JacobianCalculator (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw.JacobianCalculator

Direct Known Subclasses:

DeviceJacobianCalculator, JointDeviceJacobianCalculator
```
public class JacobianCalculator
extends java.lang.Object
```
JacobianCalculator provides an interface for obtaining a Jacobian

Constructor Summary

Constructors
Constructor Description

JacobianCalculator(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`delete()`
`Jacobian`	`get(State state)`	Returns the Jacobian associated to state
`static long`	`getCPtr(JacobianCalculator obj)`
`Jacobian`	`getJacobian(State state)`	Returns the Jacobian associated to state

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - JacobianCalculator
```
public JacobianCalculator(long cPtr,
                          boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(JacobianCalculator obj)
```
  - delete
```
public void delete()
```
  - get
```
public Jacobian get(State state)
```
    Returns the Jacobian associated to state
    
    Parameters:
    
    state - [in] State for which to calculate the Jacobian
    
    Returns:
    
    Jacobian for state
  - getJacobian
```
public Jacobian getJacobian(State state)
```
    Returns the Jacobian associated to state
    
    Parameters:
    
    state - [in] State for which to calculate the Jacobian
    
    Returns:
    
    Jacobian for state