TemplatedJacobianNode provides a curiously recurring template pattern implementation of the various JacobianNode non-caching functions. More...
#include <TemplatedJacobianNode.hpp>
Inheritance diagram for dart::dynamics::TemplatedJacobianNode< NodeType >:
Collaboration diagram for dart::dynamics::TemplatedJacobianNode< NodeType >:
Public Member Functions | |
| math::Jacobian | getJacobian (const Frame *_inCoordinatesOf) const override final |
| A version of getJacobian() that lets you specify a coordinate Frame to express the Jacobian in. More... | |
| math::Jacobian | getJacobian (const Eigen::Vector3d &_offset) const override final |
| Return the generalized Jacobian targeting an offset within the Frame of this JacobianNode. More... | |
| math::Jacobian | getJacobian (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf) const override final |
| A version of getJacobian(const Eigen::Vector3d&) that lets you specify a coordinate Frame to express the Jacobian in. More... | |
| math::Jacobian | getWorldJacobian (const Eigen::Vector3d &_offset) const override final |
| Return the generalized Jacobian targeting an offset in this JacobianNode. More... | |
| math::LinearJacobian | getLinearJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override final |
| Return the linear Jacobian targeting the origin of this BodyNode. More... | |
| math::LinearJacobian | getLinearJacobian (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const override final |
| Return the generalized Jacobian targeting an offset within the Frame of this BodyNode. More... | |
| math::AngularJacobian | getAngularJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override final |
| Return the angular Jacobian targeting the origin of this BodyNode. More... | |
| math::Jacobian | getJacobianSpatialDeriv (const Frame *_inCoordinatesOf) const override final |
| A version of getJacobianSpatialDeriv() that can return the Jacobian in coordinates of any Frame. More... | |
| math::Jacobian | getJacobianSpatialDeriv (const Eigen::Vector3d &_offset) const override final |
| Return the spatial time derivative of the generalized Jacobian targeting an offset in the Frame of this BodyNode. More... | |
| math::Jacobian | getJacobianSpatialDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf) const override final |
| A version of getJacobianSpatialDeriv(const Eigen::Vector3d&) that allows an arbitrary coordinate Frame to be specified. More... | |
| math::Jacobian | getJacobianClassicDeriv (const Frame *_inCoordinatesOf) const override final |
| A version of getJacobianClassicDeriv() that can return the Jacobian in coordinates of any Frame. More... | |
| math::Jacobian | getJacobianClassicDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const override final |
| A version of getJacobianClassicDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode. More... | |
| math::LinearJacobian | getLinearJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override final |
| Return the linear Jacobian (classical) time derivative, in terms of any coordinate Frame. More... | |
| math::LinearJacobian | getLinearJacobianDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const override final |
| A version of getLinearJacobianDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode. More... | |
| math::AngularJacobian | getAngularJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override final |
| Return the angular Jacobian time derivative, in terms of any coordinate Frame. More... | |
 Public Member Functions inherited from dart::dynamics::JacobianNode | |
| virtual | ~JacobianNode () |
| Virtual destructor. | |
| const std::shared_ptr< InverseKinematics > & | getIK (bool _createIfNull=false) |
| Get a pointer to an IK module for this JacobianNode. More... | |
| const std::shared_ptr< InverseKinematics > & | getOrCreateIK () |
| Get a pointer to an IK module for this JacobianNode. More... | |
| std::shared_ptr< const InverseKinematics > | getIK () const |
| Get a pointer to an IK module for this JacobianNode. More... | |
| const std::shared_ptr< InverseKinematics > & | createIK () |
| Create a new IK module for this JacobianNode. More... | |
| void | clearIK () |
| Wipe away the IK module for this JacobianNode, leaving it as a nullptr. | |
| void | notifyJacobianUpdate () |
| Notify this BodyNode and all its descendents that their Jacobians need to be updated. More... | |
| void | dirtyJacobian () |
| Notify this BodyNode and all its descendents that their Jacobians need to be updated. More... | |
| void | notifyJacobianDerivUpdate () |
| Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated. More... | |
| void | dirtyJacobianDeriv () |
| Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated. More... | |
| virtual bool | dependsOn (std::size_t _genCoordIndex) const =0 |
| Return true if _genCoordIndex-th generalized coordinate. | |
| virtual std::size_t | getNumDependentGenCoords () const =0 |
| The number of the generalized coordinates which affect this JacobianNode. | |
| virtual std::size_t | getDependentGenCoordIndex (std::size_t _arrayIndex) const =0 |
| Return a generalized coordinate index from the array index (< getNumDependentDofs) | |
| virtual const std::vector< std::size_t > & | getDependentGenCoordIndices () const =0 |
| Indices of the generalized coordinates which affect this JacobianNode. | |
| virtual std::size_t | getNumDependentDofs () const =0 |
| Same as getNumDependentGenCoords() | |
| virtual DegreeOfFreedom * | getDependentDof (std::size_t _index)=0 |
| Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode. | |
| virtual const DegreeOfFreedom * | getDependentDof (std::size_t _index) const =0 |
| Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode. | |
| virtual const std::vector< DegreeOfFreedom * > & | getDependentDofs ()=0 |
| Return a std::vector of DegreeOfFreedom pointers that this Node depends on. | |
| virtual const std::vector< const DegreeOfFreedom * > & | getDependentDofs () const =0 |
| Return a std::vector of DegreeOfFreedom pointers that this Node depends on. | |
| virtual const std::vector< const DegreeOfFreedom * > | getChainDofs () const =0 |
| Returns a DegreeOfFreedom vector containing the dofs that form a Chain leading up to this JacobianNode from the root of the Skeleton. More... | |
| virtual const math::Jacobian & | getJacobian () const =0 |
| Return the generalized Jacobian targeting the origin of this JacobianNode. More... | |
| virtual const math::Jacobian & | getWorldJacobian () const =0 |
| Return the generalized Jacobian targeting the origin of this JacobianNode. More... | |
| virtual const math::Jacobian & | getJacobianSpatialDeriv () const =0 |
| Return the spatial time derivative of the generalized Jacobian targeting the origin of this BodyNode. More... | |
| virtual const math::Jacobian & | getJacobianClassicDeriv () const =0 |
| Return the classical time derivative of the generalized Jacobian targeting the origin of this BodyNode. More... | |
| Public Member Functions inherited from dart::dynamics::Frame | |
| Frame (const Frame &)=delete | |
| ~Frame () override | |
| Destructor. | |
| virtual const Eigen::Isometry3d & | getRelativeTransform () const =0 |
| Get the transform of this Frame with respect to its parent Frame. | |
| const Eigen::Isometry3d & | getWorldTransform () const |
| Get the transform of this Frame with respect to the World Frame. | |
| Eigen::Isometry3d | getTransform (const Frame *_withRespectTo=Frame::World()) const |
| Get the transform of this Frame with respect to some other Frame. | |
| Eigen::Isometry3d | getTransform (const Frame *withRespectTo, const Frame *inCoordinatesOf) const |
| Get the transform of this Frame with respect to some other Frame. More... | |
| virtual const Eigen::Vector6d & | getRelativeSpatialVelocity () const =0 |
| Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates. More... | |
| const Eigen::Vector6d & | getSpatialVelocity () const |
| Get the total spatial velocity of this Frame in the coordinates of this Frame. More... | |
| Eigen::Vector6d | getSpatialVelocity (const Frame *_relativeTo, const Frame *_inCoordinatesOf) const |
| Get the spatial velocity of this Frame relative to some other Frame. More... | |
| Eigen::Vector6d | getSpatialVelocity (const Eigen::Vector3d &_offset) const |
| Get the spatial velocity of a fixed point in this Frame. More... | |
| Eigen::Vector6d | getSpatialVelocity (const Eigen::Vector3d &_offset, const Frame *_relativeTo, const Frame *_inCoordinatesOf) const |
| Get the spatial velocity of a fixed point in this Frame. | |
| Eigen::Vector3d | getLinearVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const |
| Get the linear portion of classical velocity of this Frame relative to some other Frame. More... | |
| Eigen::Vector3d | getLinearVelocity (const Eigen::Vector3d &_offset, const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const |
| Get the linear velocity of a point that is fixed in this Frame. More... | |
| Eigen::Vector3d | getAngularVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const |
| Get the angular portion of classical velocity of this Frame relative to some other Frame. More... | |
| virtual const Eigen::Vector6d & | getRelativeSpatialAcceleration () const =0 |
| Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame. More... | |
| virtual const Eigen::Vector6d & | getPrimaryRelativeAcceleration () const =0 |
| The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration(). More... | |
| virtual const Eigen::Vector6d & | getPartialAcceleration () const =0 |
| The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration. More... | |
| const Eigen::Vector6d & | getSpatialAcceleration () const |
| Get the total spatial acceleration of this Frame in the coordinates of this Frame. More... | |
| Eigen::Vector6d | getSpatialAcceleration (const Frame *_relativeTo, const Frame *_inCoordinatesOf) const |
| Get the spatial acceleration of this Frame relative to some other Frame. More... | |
| Eigen::Vector6d | getSpatialAcceleration (const Eigen::Vector3d &_offset) const |
| Get the spatial acceleration of a fixed point in this Frame. More... | |
| Eigen::Vector6d | getSpatialAcceleration (const Eigen::Vector3d &_offset, const Frame *_relativeTo, const Frame *_inCoordinatesOf) const |
| Get the spatial acceleration of a fixed point in this Frame. | |
| Eigen::Vector3d | getLinearAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const |
| Get the linear portion of classical acceleration of this Frame relative to some other Frame. More... | |
| Eigen::Vector3d | getLinearAcceleration (const Eigen::Vector3d &_offset, const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const |
| Eigen::Vector3d | getAngularAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const |
| Get the angular portion of classical acceleration of this Frame relative to some other Frame. More... | |
| const std::set< Entity * > & | getChildEntities () |
| Get a container with the Entities that are children of this Frame. More... | |
| const std::set< const Entity * > | getChildEntities () const |
| Get a container with the Entities that are children of this Frame. More... | |
| std::size_t | getNumChildEntities () const |
| Get the number of Entities that are currently children of this Frame. | |
| const std::set< Frame * > & | getChildFrames () |
| Get a container with the Frames that are children of this Frame. More... | |
| std::set< const Frame * > | getChildFrames () const |
| Get a container with the Frames that are children of this Frame. More... | |
| std::size_t | getNumChildFrames () const |
| Get the number of Frames that are currently children of this Frame. | |
| bool | isShapeFrame () const |
| Returns true if this Frame is a ShapeFrame. | |
| virtual ShapeFrame * | asShapeFrame () |
| Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. | |
| virtual const ShapeFrame * | asShapeFrame () const |
| Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. | |
| bool | isWorld () const |
| Returns true if this Frame is the World Frame. | |
| virtual void | dirtyTransform () override |
| Notify the transformation updates of this Frame and all its children are needed. | |
| virtual void | dirtyVelocity () override |
| Notify the velocity updates of this Frame and all its children are needed. | |
| virtual void | dirtyAcceleration () override |
| Notify the acceleration updates of this Frame and all its children are needed. | |
| Public Member Functions inherited from dart::dynamics::Entity | |
| Entity (Frame *_refFrame, bool _quiet) | |
| Constructor for typical usage. | |
| Entity () | |
| Default constructor, delegates to Entity(ConstructAbstract_t) | |
| Entity (const Entity &)=delete | |
| virtual | ~Entity () |
| Destructor. | |
| virtual const std::string & | setName (const std::string &_name)=0 |
| Set name. More... | |
| virtual const std::string & | getName () const =0 |
| Return the name of this Entity. | |
| Frame * | getParentFrame () |
| Get the parent (reference) frame of this Entity. | |
| const Frame * | getParentFrame () const |
| Get the parent (reference) frame of this Entity. | |
| bool | descendsFrom (const Frame *_someFrame) const |
| Returns true if and only if this Entity is itself (i.e. More... | |
| bool | isFrame () const |
| True iff this Entity is also a Frame. | |
| bool | isQuiet () const |
| Returns true if this Entity is set to be quiet. More... | |
| virtual void | notifyTransformUpdate () |
| Notify the transformation update of this Entity that its parent Frame's pose is needed. | |
| bool | needsTransformUpdate () const |
| Returns true iff a transform update is needed for this Entity. | |
| virtual void | notifyVelocityUpdate () |
| Notify the velocity update of this Entity that its parent Frame's velocity is needed. | |
| bool | needsVelocityUpdate () const |
| Returns true iff a velocity update is needed for this Entity. | |
| virtual void | notifyAccelerationUpdate () |
| Notify the acceleration of this Entity that its parent Frame's acceleration is needed. | |
| bool | needsAccelerationUpdate () const |
| Returns true iff an acceleration update is needed for this Entity. | |
| Public Member Functions inherited from dart::common::Subject | |
| virtual | ~Subject () |
| Destructor will notify all Observers that it is destructing. | |
| Public Member Functions inherited from dart::dynamics::Node | |
| virtual | ~Node ()=default |
| Virtual destructor. | |
| virtual const std::string & | setName (const std::string &newName)=0 |
| Set the name of this Node. | |
| virtual const std::string & | getName () const =0 |
| Get the name of this Node. | |
| virtual void | setNodeState (const State &otherState) |
| Set the State of this Node. By default, this does nothing. | |
| virtual std::unique_ptr< State > | getNodeState () const |
| Get the State of this Node. More... | |
| virtual void | copyNodeStateTo (std::unique_ptr< State > &outputState) const |
| Copy the State of this Node into a unique_ptr. More... | |
| virtual void | setNodeProperties (const Properties &properties) |
| Set the Properties of this Node. By default, this does nothing. | |
| virtual std::unique_ptr< Properties > | getNodeProperties () const |
| Get the Properties of this Node. More... | |
| virtual void | copyNodePropertiesTo (std::unique_ptr< Properties > &outputProperties) const |
| Copy the Properties of this Node into a unique_ptr. More... | |
| BodyNodePtr | getBodyNodePtr () |
| Get a pointer to the BodyNode that this Node is associated with. | |
| ConstBodyNodePtr | getBodyNodePtr () const |
| Get a pointer to the BodyNode that this Node is associated with. | |
| bool | isRemoved () const |
| Returns true if this Node has been staged for removal from its BodyNode. More... | |
| virtual std::shared_ptr< Skeleton > | getSkeleton () |
| Return the Skeleton that this Node is attached to. | |
| virtual std::shared_ptr< const Skeleton > | getSkeleton () const |
| Return the Skeleton that this Node is attached to. | |
| Public Member Functions inherited from dart::common::VersionCounter | |
| VersionCounter () | |
| Default constructor. | |
| virtual std::size_t | incrementVersion () |
| Increment the version for this object. | |
| virtual std::size_t | getVersion () const |
| Get the version number of this object. | |
Protected Member Functions | |
| TemplatedJacobianNode (BodyNode *bn) | |
| Constructor. | |
| Protected Member Functions inherited from dart::dynamics::JacobianNode | |
| JacobianNode (BodyNode *bn) | |
| Constructor. | |
| Protected Member Functions inherited from dart::dynamics::Frame | |
| Frame (Frame *_refFrame) | |
| Constructor for typical usage. | |
| Frame () | |
| Default constructor, delegates to Frame(ConstructAbstract_t) | |
| Frame (ConstructAbstractTag) | |
| Constructor for use by pure abstract classes. | |
| virtual void | changeParentFrame (Frame *_newParentFrame) override |
| Used by derived classes to change their parent frames. | |
| virtual void | processNewEntity (Entity *_newChildEntity) |
| Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways. More... | |
| virtual void | processRemovedEntity (Entity *_oldChildEntity) |
| Called when a child Entity is removed from its parent Frame. More... | |
| Protected Member Functions inherited from dart::dynamics::Entity | |
| Entity (ConstructFrameTag) | |
| Entity (ConstructAbstractTag) | |
| Protected Member Functions inherited from dart::common::Subject | |
| void | sendDestructionNotification () const |
| Send a destruction notification to all Observers. More... | |
| void | addObserver (Observer *_observer) const |
| Add an Observer to the list of Observers. | |
| void | removeObserver (Observer *_observer) const |
| Remove an Observer from the list of Observers. | |
| Protected Member Functions inherited from dart::dynamics::Node | |
| virtual Node * | cloneNode (BodyNode *bn) const =0 |
| Allow your Node implementation to be cloned into a new BodyNode. | |
| Node (BodyNode *_bn) | |
| Constructor. | |
| std::string | registerNameChange (const std::string &newName) |
| Inform the Skeleton that the name of this Node has changed. More... | |
| void | attach () |
| Attach the Node to its BodyNode. | |
| void | stageForRemoval () |
| When all external references to the Node disappear, it will be deleted. | |
| Protected Member Functions inherited from dart::common::VersionCounter | |
| void | setVersionDependentObject (VersionCounter *dependent) |
Additional Inherited Members | |
| Public Types inherited from dart::dynamics::Entity | |
| using | EntitySignal = common::Signal< void(const Entity *)> |
| using | FrameChangedSignal = common::Signal< void(const Entity *, const Frame *_oldFrame, const Frame *_newFrame)> |
| using | NameChangedSignal = common::Signal< void(const Entity *, const std::string &_oldName, const std::string &_newName)> |
| Public Types inherited from dart::dynamics::Node | |
| template<class Mixin > | |
| using | MakeState = common::MakeCloneable< State, Mixin > |
| Use the MakeState class to easily create a State extension from an existing class or struct. | |
| template<class Mixin > | |
| using | MakeProperties = common::MakeCloneable< Properties, Mixin > |
| Use the MakeProperties class to easily create a Properties extension from an existing class or struct. More... | |
| Static Public Member Functions inherited from dart::dynamics::Frame | |
| static Frame * | World () |
| static std::shared_ptr< Frame > | WorldShared () |
| Public Attributes inherited from dart::dynamics::Entity | |
| common::SlotRegister< FrameChangedSignal > | onFrameChanged |
| Slot register for frame changed signal. | |
| common::SlotRegister< NameChangedSignal > | onNameChanged |
| Slot register for name changed signal. | |
| common::SlotRegister< EntitySignal > | onTransformUpdated |
| Slot register for transform updated signal. | |
| common::SlotRegister< EntitySignal > | onVelocityChanged |
| Slot register for velocity updated signal. | |
| common::SlotRegister< EntitySignal > | onAccelerationChanged |
| Slot register for acceleration updated signal. | |
| Protected Types inherited from dart::dynamics::Frame | |
| enum | ConstructAbstractTag { ConstructAbstract } |
| Used when constructing a pure abstract class, because calling the Frame constructor is just a formality. | |
| Protected Types inherited from dart::dynamics::Entity | |
| enum | ConstructFrameTag { ConstructFrame } |
| Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it. | |
| enum | ConstructAbstractTag { ConstructAbstract } |
| Used when constructing a pure abstract class, because calling the Entity constructor is just a formality. | |
| Protected Attributes inherited from dart::dynamics::JacobianNode | |
| bool | mIsBodyJacobianDirty |
| Dirty flag for body Jacobian. | |
| bool | mIsWorldJacobianDirty |
| Dirty flag for world Jacobian. | |
| bool | mIsBodyJacobianSpatialDerivDirty |
| Dirty flag for spatial time derivative of body Jacobian. | |
| bool | mIsWorldJacobianClassicDerivDirty |
| Dirty flag for the classic time derivative of the Jacobian. | |
| std::shared_ptr< InverseKinematics > | mIK |
| Inverse kinematics module which gets lazily created upon request. | |
| std::unordered_set< JacobianNode * > | mChildJacobianNodes |
| JacobianNode children that descend from this JacobianNode. | |
| Protected Attributes inherited from dart::dynamics::Frame | |
| Eigen::Isometry3d | mWorldTransform |
| World transform of this Frame. More... | |
| Eigen::Vector6d | mVelocity |
| Total velocity of this Frame, in the coordinates of this Frame. More... | |
| Eigen::Vector6d | mAcceleration |
| Total acceleration of this Frame, in the coordinates of this Frame. More... | |
| std::set< Frame * > | mChildFrames |
| Container of this Frame's child Frames. | |
| std::set< Entity * > | mChildEntities |
| Container of this Frame's child Entities. | |
| Protected Attributes inherited from dart::dynamics::Entity | |
| Frame * | mParentFrame |
| Parent frame of this Entity. | |
| bool | mNeedTransformUpdate |
| Does this Entity need a Transform update. | |
| bool | mNeedVelocityUpdate |
| Does this Entity need a Velocity update. | |
| bool | mNeedAccelerationUpdate |
| Does this Entity need an Acceleration update. | |
| FrameChangedSignal | mFrameChangedSignal |
| Frame changed signal. | |
| NameChangedSignal | mNameChangedSignal |
| Name changed signal. | |
| EntitySignal | mTransformUpdatedSignal |
| Transform changed signal. | |
| EntitySignal | mVelocityChangedSignal |
| Velocity changed signal. | |
| EntitySignal | mAccelerationChangedSignal |
| Acceleration changed signal. | |
| Protected Attributes inherited from dart::common::Subject | |
| std::set< Observer * > | mObservers |
| List of current Observers. | |
| Protected Attributes inherited from dart::dynamics::Node | |
| std::weak_ptr< NodeDestructor > | mDestructor |
| weak pointer to the destructor for this Node. More... | |
| BodyNode * | mBodyNode |
| Pointer to the BodyNode that this Node is attached to. | |
| bool | mAmAttached |
| bool that tracks whether this Node is attached to its BodyNode | |
| std::size_t | mIndexInBodyNode |
| The index of this Node within its vector in its BodyNode's NodeMap. | |
| std::size_t | mIndexInSkeleton |
| The index of this Node within its vector in its Skeleton's NodeMap. | |
| std::size_t | mIndexInTree |
| Index of this Node within its tree. | |
| Protected Attributes inherited from dart::common::VersionCounter | |
| std::size_t | mVersion |
Detailed Description
template<class NodeType>
class dart::dynamics::TemplatedJacobianNode< NodeType >
TemplatedJacobianNode provides a curiously recurring template pattern implementation of the various JacobianNode non-caching functions.
These functions are easily distinguished because they return by value instead of returning by const reference.
This style of implementation allows BodyNode and EndEffector to share the implementations of these various auxiliary Jacobian functions without any penalty from dynamic overload resolution.
Member Function Documentation
◆ getAngularJacobian()
template<class NodeType >
|
finaloverridevirtual |
Return the angular Jacobian targeting the origin of this BodyNode.
You can specify a coordinate Frame to express the Jacobian in.
Implements dart::dynamics::JacobianNode.
◆ getAngularJacobianDeriv()
template<class NodeType >
|
finaloverridevirtual |
Return the angular Jacobian time derivative, in terms of any coordinate Frame.
Implements dart::dynamics::JacobianNode.
◆ getJacobian() [1/3]
template<class NodeType >
|
finaloverridevirtual |
A version of getJacobian() that lets you specify a coordinate Frame to express the Jacobian in.
Implements dart::dynamics::JacobianNode.
◆ getJacobian() [2/3]
template<class NodeType >
|
finaloverridevirtual |
Return the generalized Jacobian targeting an offset within the Frame of this JacobianNode.
Implements dart::dynamics::JacobianNode.
◆ getJacobian() [3/3]
template<class NodeType >
|
finaloverridevirtual |
A version of getJacobian(const Eigen::Vector3d&) that lets you specify a coordinate Frame to express the Jacobian in.
Implements dart::dynamics::JacobianNode.
◆ getJacobianClassicDeriv() [1/2]
template<class NodeType >
|
finaloverridevirtual |
A version of getJacobianClassicDeriv() that can return the Jacobian in coordinates of any Frame.
NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.
Implements dart::dynamics::JacobianNode.
◆ getJacobianClassicDeriv() [2/2]
template<class NodeType >
|
finaloverridevirtual |
A version of getJacobianClassicDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode.
The offset must be expressed in the coordinates of this BodyNode Frame.
NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.
Implements dart::dynamics::JacobianNode.
◆ getJacobianSpatialDeriv() [1/3]
template<class NodeType >
|
finaloverridevirtual |
A version of getJacobianSpatialDeriv() that can return the Jacobian in coordinates of any Frame.
NOTE: This Jacobian Derivative is only for use with spatial vectors. If you are using classical linear and angular vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.
Implements dart::dynamics::JacobianNode.
◆ getJacobianSpatialDeriv() [2/3]
template<class NodeType >
|
finaloverridevirtual |
Return the spatial time derivative of the generalized Jacobian targeting an offset in the Frame of this BodyNode.
The Jacobian is expressed in this BodyNode's coordinate Frame.
NOTE: This Jacobian Derivative is only for use with spatial vectors. If you are using classic linear and angular vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.
- See also
- getJacobianSpatialDeriv()
Implements dart::dynamics::JacobianNode.
◆ getJacobianSpatialDeriv() [3/3]
template<class NodeType >
|
finaloverridevirtual |
A version of getJacobianSpatialDeriv(const Eigen::Vector3d&) that allows an arbitrary coordinate Frame to be specified.
Implements dart::dynamics::JacobianNode.
◆ getLinearJacobian() [1/2]
template<class NodeType >
|
finaloverridevirtual |
Return the linear Jacobian targeting the origin of this BodyNode.
You can specify a coordinate Frame to express the Jacobian in.
Implements dart::dynamics::JacobianNode.
◆ getLinearJacobian() [2/2]
template<class NodeType >
|
finaloverridevirtual |
Return the generalized Jacobian targeting an offset within the Frame of this BodyNode.
Implements dart::dynamics::JacobianNode.
◆ getLinearJacobianDeriv() [1/2]
template<class NodeType >
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finaloverridevirtual |
Return the linear Jacobian (classical) time derivative, in terms of any coordinate Frame.
NOTE: Since this is a classical time derivative, it should be used with classical linear vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.
Implements dart::dynamics::JacobianNode.
◆ getLinearJacobianDeriv() [2/2]
template<class NodeType >
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finaloverridevirtual |
A version of getLinearJacobianDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode.
The offset must be expressed in coordinates of this BodyNode Frame.
NOTE: Since this is a classical time derivative, it should be used with classical linear vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.
Implements dart::dynamics::JacobianNode.
◆ getWorldJacobian()
template<class NodeType >
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finaloverridevirtual |
Return the generalized Jacobian targeting an offset in this JacobianNode.
The _offset is expected in coordinates of this BodyNode Frame. The Jacobian is expressed in the World Frame.
Implements dart::dynamics::JacobianNode.
The documentation for this class was generated from the following file:
- dart/dynamics/TemplatedJacobianNode.hpp
