us.ihmc.utilities.screwTheory
Class PointJacobian
java.lang.Object
us.ihmc.utilities.screwTheory.PointJacobian
public class PointJacobian
- extends java.lang.Object
Jacobian that maps joint velocities to the velocity of a point fixed
to the end effector of a GeometricJacobian, with respect to the base
of the GeometricJacobian, expressed in base frame.
- Author:
- twan
Date: 5/18/13
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
PointJacobian
public PointJacobian()
set
public void set(GeometricJacobian geometricJacobian,
FramePoint point)
compute
public void compute()
- assumes that the GeometricJacobian.compute() method has already been called
getFrame
public ReferenceFrame getFrame()
getJacobianMatrix
public org.ejml.data.DenseMatrix64F getJacobianMatrix()
getGeometricJacobian
public GeometricJacobian getGeometricJacobian()
getPoint
public FramePoint getPoint()