Package org.robwork.sdurw_models

Class DeviceJacobianCalculator

java.lang.Object

org.robwork.sdurw_models.JacobianCalculator

org.robwork.sdurw_models.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 Summary

Constructors

Constructor	Description
DeviceJacobianCalculator(long cPtr, boolean cMemoryOwn)
DeviceJacobianCalculator(DevicePtrVector devices, FramePtr base, FrameVector tcps, State state)	Constructs JacobianCalculator. The dimension of the jacobian wil be (tcps.size() * 6, device.getDOF()).

Method Summary

Modifier and Type	Method	Description
void	delete()
Jacobian	get(State state)	rw::kinematics::State&) const
static long	getCPtr(DeviceJacobianCalculator obj)

Methods inherited from class org.robwork.sdurw_models.JacobianCalculator

getCPtr, getJacobian

Methods inherited from class java.lang.Object

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

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

Method Detail

getCPtr

public static long getCPtr(DeviceJacobianCalculator obj)

delete

public void delete()

Overrides:

delete in class JacobianCalculator

get

public Jacobian get(State state)

rw::kinematics::State&) const

Overrides:

get in class JacobianCalculator

Parameters:

state - [in] State for which to calculate the Jacobian

Returns:

Jacobian for state