Package org.robwork.sdurw_math

Class Jacobian

java.lang.Object

org.robwork.sdurw_math.Jacobian

public class Jacobian
extends java.lang.Object

A Jacobian class. A jacobian with m rows and n columns.

An ordinary robot jacobian defined over the joints 0 to n with
configuration q is expressed as a 6\times n matrix:
\robabx{0}{n}{\bf{J}}(\bf{q}) = [ \robabx{0}{1}{\bf{J}}(\bf{q}), \robabx{1}{2}{\bf{J}}(\bf{q}),..., \robabx{n-1}{n}{\bf{J}}(\bf{q}) ]

Constructor Summary

Constructors

Constructor	Description
Jacobian()	Default constructor
Jacobian(long n)	Creates an empty 6\times n (uninitialized) Jacobian matrix
Jacobian(long cPtr, boolean cMemoryOwn)
Jacobian(long m, long n)	Creates an empty m\times n (uninitialized) Jacobian matrix
Jacobian(Rotation3D aRb)
Jacobian(Transform3D aTb)
Jacobian(Vector3D aPb)

Method Summary

Modifier and Type	Method	Description
void	addPosition(Vector3D part, long row, long col)	add position jacobian to a specific row and column in this jacobian
void	addRotation(Vector3D part, long row, long col)	add rotation jacobian to a specific row and column in this jacobian
void	delete()
SWIGTYPE_p_Eigen__MatrixT_double_Eigen__Dynamic_Eigen__Dynamic_t	e()	Accessor for the internal Eigen matrix state.
SWIGTYPE_p_double	elem(long row, long col)	Get an element of the jacobian.
double	get(long row, long column)
static long	getCPtr(Jacobian obj)
void	set(long row, long column, double d)
long	size1()	The number of rows.
long	size2()	The number of columns.
java.lang.String	toString()
static Jacobian	zero(long size1, long size2)	Construct zero initialized Jacobian.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Jacobian

public Jacobian(long cPtr,
                boolean cMemoryOwn)

Jacobian

public Jacobian(long m,
                long n)

Creates an empty m\times n (uninitialized) Jacobian matrix

Parameters:

m - [in] number of rows

n - [in] number of columns

Jacobian

public Jacobian()

Default constructor

Jacobian

public Jacobian(long n)

Creates an empty 6\times n (uninitialized) Jacobian matrix

Parameters:

n - [in] number of columns

Jacobian

public Jacobian(Transform3D aTb)

Jacobian

public Jacobian(Rotation3D aRb)

Jacobian

public Jacobian(Vector3D aPb)

Method Detail

getCPtr

public static long getCPtr(Jacobian obj)

delete

public void delete()

size1

public long size1()

The number of rows.

size2

public long size2()

The number of columns.

zero

public static Jacobian zero(long size1,
                            long size2)

Construct zero initialized Jacobian.

Parameters:

size1 - [in] number of rows.

size2 - [in] number of columns.

Returns:

zero-initialized jacobian.

e

public SWIGTYPE_p_Eigen__MatrixT_double_Eigen__Dynamic_Eigen__Dynamic_t e()

Accessor for the internal Eigen matrix state.

get

public double get(long row,
                  long column)

set

public void set(long row,
                long column,
                double d)

elem

public SWIGTYPE_p_double elem(long row,
                              long col)

Get an element of the jacobian.

Parameters:

row - [in] the row.

col - [in] the column.

Returns:

reference to the element.

addRotation

public void addRotation(Vector3D part,
                        long row,
                        long col)

add rotation jacobian to a specific row and column in this jacobian

Parameters:

part -

row -

col -

addPosition

public void addPosition(Vector3D part,
                        long row,
                        long col)

add position jacobian to a specific row and column in this jacobian

Parameters:

part -

row -

col -

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object