Class DeviceJacobianCalculator


  • public class DeviceJacobianCalculator
    extends JacobianCalculator
    Calculator for Jacobians of one or several Devices.

    Implements Jacobian calculations for one or several Devices.

    If more than one end-effector is given a "stacked" Jacobian is returned.
    • Constructor Detail

      • DeviceJacobianCalculator

        public DeviceJacobianCalculator​(long cPtr,
                                        boolean cMemoryOwn)
      • DeviceJacobianCalculator

        public DeviceJacobianCalculator​(DevicePtrVector devices,
                                        FramePtr base,
                                        FrameVector tcps,
                                        State state)
        Constructs JacobianCalculator.

        The dimension of the jacobian wil be (tcps.size() * 6, device.getDOF()).

        Parameters:
        devices - [in] The device to calculate for
        base - [in] Reference base of the Jacobian. Does not have to be the same as the base
        of the device
        tcps - [in] List of tool end-effectors for which to calculate the Jacobian.
        state - [in] State giving how frame are connected