CJacobian Class Reference

#include <basic/kinematics/Jacobian.h>

Collaboration diagram for CJacobian:

[legend]List of all members.

Public Member Functions
	CJacobian (RobotBase &robot)
	~CJacobian ()
bool	GetPhyVelocity (VectorN &phyVel, VectorN &jointVel)
bool	GetJointVelocity (VectorN &jointVel, VectorN &phyVel)
bool	SetInterestPoint (int joint, Frame &endFrame, bool position=true, bool orient=false, int baseJoint=0)
bool	SetConfiguration (Configuration &conf)
Frame	GetJointFrame (int nJoint) const
Frame	GetJointWorldFrame (int nJoint) const
Matrixmxn *	GetMatrix ()
Protected Member Functions
bool	Calculate ()
bool	UpdateJoints ()
Protected Attributes
int	m_nDof
int	m_nJoint
int	m_nBaseJoint
Frame	m_frObserve
Matrixmxn *	m_pMatrix
Matrix4x4 *	m_pJointMatrix
Vector4 *	m_pJointZ
Vector4 *	m_pJointOrig
RobotBase *	m_pRobot
bool	m_bOrientation
bool	m_bPosition
Configuration	m_configCurrent

---

Detailed Description

Definition at line 15 of file Jacobian.h.

---

Constructor & Destructor Documentation

CJacobian::CJacobian (  RobotBase &  robot  )

Definition at line 38 of file Jacobian.cpp. References RobotBase::DOF(), m_bOrientation, m_bPosition, m_configCurrent, m_nDof, m_nJoint, m_pJointMatrix, m_pJointOrig, m_pJointZ, m_pMatrix, m_pRobot, and Configuration::SetNumDOF(). Here is the call graph for this function:

CJacobian::~CJacobian (   )

Definition at line 52 of file Jacobian.cpp. References m_pJointMatrix, m_pJointOrig, m_pJointZ, and m_pMatrix.

---

Member Function Documentation

bool CJacobian::Calculate (   )  [protected]

Definition at line 179 of file Jacobian.cpp. References Frame::GetTranslationVector(), m_bOrientation, m_bPosition, m_frObserve, m_nBaseJoint, m_nDof, m_nJoint, m_pJointMatrix, m_pMatrix, and Matrixmxn::SetValues(). Referenced by SetInterestPoint(). Here is the call graph for this function:

Frame CJacobian::GetJointFrame (  int  nJoint  )  const

Definition at line 265 of file Jacobian.cpp. References Matrix4x4::Inverse(), and m_pJointMatrix. Referenced by IK_Jacobian::ComputeHomogeneousTerm(). Here is the call graph for this function:

bool CJacobian::GetJointVelocity (  VectorN &  jointVel, VectorN &  phyVel )

Definition at line 137 of file Jacobian.cpp. References Matrixmxn::Inverse(), and m_pMatrix. Here is the call graph for this function:

Frame CJacobian::GetJointWorldFrame (  int  nJoint  )  const

Definition at line 276 of file Jacobian.cpp. References m_pJointMatrix. Referenced by IK_Jacobian::ComputeHomogeneousTerm().

Matrixmxn * CJacobian::GetMatrix (   )

Definition at line 154 of file Jacobian.cpp. References m_pMatrix. Referenced by PL_MPEP::AdjustConfiguration(), PL_ForTest::AdjustConfiguration(), PL_RRT_ClosedChain::AdjustConfiguration(), IK_Jacobian::ComputeHomogeneousTerm(), PL_RRT_ClosedChain::ConnectToGoalJacobian(), PL_MPEP::Extend_Node_Self_Motion_Graph_Jacobian(), PL_ForTest::Extend_Node_Self_Motion_Graph_Jacobian(), PL_RRT_ClosedChain::ExtendJacobian(), PL_ForTest::FindLocalPath(), PL_PRM_ClosedJacobian::IsInterfering(), PL_PRM_ClosedJacobian::MakeItClosed(), and PL_RRT_ClosedChain::TestJacobianConnection().

bool CJacobian::GetPhyVelocity (  VectorN &  phyVel, VectorN &  jointVel )

Definition at line 129 of file Jacobian.cpp. References Matrixmxn::GetRows(), VectorN::Length(), and m_pMatrix. Here is the call graph for this function:

bool CJacobian::SetConfiguration (  Configuration &  conf  )

Definition at line 145 of file Jacobian.cpp. References m_configCurrent, and UpdateJoints(). Referenced by PL_MPEP::AdjustConfiguration(), PL_ForTest::AdjustConfiguration(), PL_RRT_ClosedChain::AdjustConfiguration(), PL_RRT_ClosedChain::ConnectToGoalJacobian(), PL_RRT_ClosedChain::ExtendJacobian(), PL_ForTest::FindLocalPath(), PL_PRM_ClosedJacobian::IsInterfering(), PL_PRM_ClosedJacobian::MakeItClosed(), PL_ForTest::Plan(), and PL_RRT_ClosedChain::TestJacobianConnection(). Here is the call graph for this function:

bool CJacobian::SetInterestPoint (  int  joint, Frame &  endFrame, bool  position = true, bool  orient = false, int  baseJoint = 0 )

Definition at line 88 of file Jacobian.cpp. References Calculate(), RobotBase::DOF(), m_bOrientation, m_bPosition, m_frObserve, m_nBaseJoint, m_nDof, m_nJoint, m_pMatrix, and m_pRobot. Referenced by PL_MPEP::AdjustConfiguration(), PL_ForTest::AdjustConfiguration(), PL_RRT_ClosedChain::AdjustConfiguration(), IK_Jacobian::ComputeHomogeneousTerm(), PL_RRT_ClosedChain::ConnectToGoalJacobian(), PL_RRT_ClosedChain::ExtendJacobian(), PL_ForTest::FindLocalPath(), PL_PRM_ClosedJacobian::IsInterfering(), PL_PRM_ClosedJacobian::MakeItClosed(), PL_ForTest::Plan(), and PL_RRT_ClosedChain::TestJacobianConnection(). Here is the call graph for this function:

bool CJacobian::UpdateJoints (   )  [protected]

Definition at line 159 of file Jacobian.cpp. References RobotBase::GetAllLinks(), Frame::GetTranslationVector(), m_configCurrent, m_nDof, m_pJointMatrix, m_pJointOrig, m_pJointZ, and m_pRobot. Referenced by SetConfiguration(). Here is the call graph for this function:

---

Member Data Documentation

bool CJacobian::m_bOrientation [protected]

Definition at line 49 of file Jacobian.h. Referenced by Calculate(), CJacobian(), and SetInterestPoint().

bool CJacobian::m_bPosition [protected]

Definition at line 50 of file Jacobian.h. Referenced by Calculate(), CJacobian(), and SetInterestPoint().

Configuration CJacobian::m_configCurrent [protected]

Definition at line 51 of file Jacobian.h. Referenced by CJacobian(), SetConfiguration(), and UpdateJoints().

Frame CJacobian::m_frObserve [protected]

Definition at line 43 of file Jacobian.h. Referenced by Calculate(), and SetInterestPoint().

int CJacobian::m_nBaseJoint [protected]

Definition at line 42 of file Jacobian.h. Referenced by Calculate(), and SetInterestPoint().

int CJacobian::m_nDof [protected]

Definition at line 40 of file Jacobian.h. Referenced by Calculate(), CJacobian(), SetInterestPoint(), and UpdateJoints().

int CJacobian::m_nJoint [protected]

Definition at line 41 of file Jacobian.h. Referenced by Calculate(), CJacobian(), and SetInterestPoint().

Matrix4x4* CJacobian::m_pJointMatrix [protected]

Definition at line 45 of file Jacobian.h. Referenced by Calculate(), CJacobian(), GetJointFrame(), GetJointWorldFrame(), UpdateJoints(), and ~CJacobian().

Vector4* CJacobian::m_pJointOrig [protected]

Definition at line 47 of file Jacobian.h. Referenced by CJacobian(), UpdateJoints(), and ~CJacobian().

Vector4* CJacobian::m_pJointZ [protected]

Definition at line 46 of file Jacobian.h. Referenced by CJacobian(), UpdateJoints(), and ~CJacobian().

Matrixmxn* CJacobian::m_pMatrix [protected]

Definition at line 44 of file Jacobian.h. Referenced by Calculate(), CJacobian(), GetJointVelocity(), GetMatrix(), GetPhyVelocity(), SetInterestPoint(), and ~CJacobian().

RobotBase* CJacobian::m_pRobot [protected]

Definition at line 48 of file Jacobian.h. Referenced by CJacobian(), SetInterestPoint(), and UpdateJoints().

---

The documentation for this class was generated from the following files:

• basic/kinematics/Jacobian.h
• basic/kinematics/Jacobian.cpp

---