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kdl_install/include/kdl/jacobian.hpp

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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_JACOBIAN_HPP
+#define KDL_JACOBIAN_HPP
+
+#include "frames.hpp"
+#include <Eigen/Core>
+
+namespace KDL
+{
+    // Equal is friend function, but default arguments for friends are forbidden (§8.3.6.4)
+    class Jacobian;
+    bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon);
+    void SetToZero(Jacobian& jac);
+
+
+    class Jacobian
+    {
+    public:
+
+        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        Eigen::Matrix<double,6,Eigen::Dynamic> data;
+        Jacobian();
+        explicit Jacobian(unsigned int nr_of_columns);
+        Jacobian(const Jacobian& arg);
+
+        ///Allocates memory for new size (can break realtime behavior)
+        void resize(unsigned int newNrOfColumns);
+
+        ///Allocates memory if size of this and argument is different
+        Jacobian& operator=(const Jacobian& arg);
+
+        bool operator ==(const Jacobian& arg)const;
+        bool operator !=(const Jacobian& arg)const;
+        
+        friend bool Equal(const Jacobian& a,const Jacobian& b,double eps);
+        
+
+        ~Jacobian();
+
+        double operator()(unsigned int i,unsigned int j)const;
+        double& operator()(unsigned int i,unsigned int j);
+        unsigned int rows()const;
+        unsigned int columns()const;
+
+        friend void SetToZero(Jacobian& jac);
+
+        friend bool changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
+        friend bool changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
+        friend bool changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
+
+        Twist getColumn(unsigned int i) const;
+        void setColumn(unsigned int i,const Twist& t);
+
+        void changeRefPoint(const Vector& base_AB);
+        void changeBase(const Rotation& rot);
+        void changeRefFrame(const Frame& frame);
+
+
+    };
+
+    bool changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
+    bool changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
+    bool changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
+
+
+}
+
+#endif