us.ihmc.utilities.screwTheory
Class PointJacobian

java.lang.Object
  extended by 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

Constructor Summary
PointJacobian()
           
 
Method Summary
 void compute()
          assumes that the GeometricJacobian.compute() method has already been called
 ReferenceFrame getFrame()
           
 GeometricJacobian getGeometricJacobian()
           
 org.ejml.data.DenseMatrix64F getJacobianMatrix()
           
 FramePoint getPoint()
           
 void set(GeometricJacobian geometricJacobian, FramePoint point)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

PointJacobian

public PointJacobian()
Method Detail

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()