DART  6.10.1
TemplatedJacobianNode.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
34 #define DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
35 
37 
38 namespace dart {
39 namespace dynamics {
40 
49 template <class NodeType>
51 {
52 public:
53  // Documentation inherited
55  const Frame* _inCoordinatesOf) const override final;
56 
57  // Documentation inherited
59  const Eigen::Vector3d& _offset) const override final;
60 
61  // Documentation inherited
63  const Eigen::Vector3d& _offset,
64  const Frame* _inCoordinatesOf) const override final;
65 
66  // Documentation inherited
68  const Eigen::Vector3d& _offset) const override final;
69 
70  // Documentation inherited
72  const Frame* _inCoordinatesOf = Frame::World()) const override final;
73 
74  // Documentation inherited
76  const Eigen::Vector3d& _offset,
77  const Frame* _inCoordinatesOf = Frame::World()) const override final;
78 
79  // Documentation inherited
81  const Frame* _inCoordinatesOf = Frame::World()) const override final;
82 
83  // Documentation inherited
85  const Frame* _inCoordinatesOf) const override final;
86 
87  // Documentation inherited
89  const Eigen::Vector3d& _offset) const override final;
90 
91  // Documentation inherited
93  const Eigen::Vector3d& _offset,
94  const Frame* _inCoordinatesOf) const override final;
95 
96  // Documentation inherited
98  const Frame* _inCoordinatesOf) const override final;
99 
100  // Documentation inherited
102  const Eigen::Vector3d& _offset,
103  const Frame* _inCoordinatesOf = Frame::World()) const override final;
104 
105  // Documentation inherited
107  const Frame* _inCoordinatesOf = Frame::World()) const override final;
108 
109  // Documentation inherited
111  const Eigen::Vector3d& _offset,
112  const Frame* _inCoordinatesOf = Frame::World()) const override final;
113 
114  // Documentation inherited
116  const Frame* _inCoordinatesOf = Frame::World()) const override final;
117 
118 protected:
121 };
122 
123 } // namespace dynamics
124 } // namespace dart
125 
127 
128 #endif // DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
The Frame class serves as the backbone of DART's kinematic tree structure.
Definition: Frame.hpp:58
static Frame * World()
Definition: Frame.cpp:73
The JacobianNode class serves as a common interface for BodyNodes and EndEffectors to both be used as...
Definition: JacobianNode.hpp:55
virtual const math::Jacobian & getJacobian() const =0
Return the generalized Jacobian targeting the origin of this JacobianNode.
virtual const math::Jacobian & getJacobianClassicDeriv() const =0
Return the classical time derivative of the generalized Jacobian targeting the origin of this BodyNod...
virtual const math::Jacobian & getJacobianSpatialDeriv() const =0
Return the spatial time derivative of the generalized Jacobian targeting the origin of this BodyNode.
virtual const math::Jacobian & getWorldJacobian() const =0
Return the generalized Jacobian targeting the origin of this JacobianNode.
TemplatedJacobianNode provides a curiously recurring template pattern implementation of the various J...
Definition: TemplatedJacobianNode.hpp:51
math::AngularJacobian getAngularJacobian(const Frame *_inCoordinatesOf=Frame::World()) const override final
Return the angular Jacobian targeting the origin of this BodyNode.
Definition: TemplatedJacobianNode.hpp:137
TemplatedJacobianNode(BodyNode *bn)
Constructor.
Definition: TemplatedJacobianNode.hpp:289
math::LinearJacobian getLinearJacobian(const Frame *_inCoordinatesOf=Frame::World()) const override final
Return the linear Jacobian targeting the origin of this BodyNode.
Definition: TemplatedJacobianNode.hpp:97
math::AngularJacobian getAngularJacobianDeriv(const Frame *_inCoordinatesOf=Frame::World()) const override final
Return the angular Jacobian time derivative, in terms of any coordinate Frame.
Definition: TemplatedJacobianNode.hpp:274
math::LinearJacobian getLinearJacobianDeriv(const Frame *_inCoordinatesOf=Frame::World()) const override final
Return the linear Jacobian (classical) time derivative, in terms of any coordinate Frame.
Definition: TemplatedJacobianNode.hpp:236
Eigen::Matrix< double, 6, Eigen::Dynamic > Jacobian
Definition: MathTypes.hpp:114
Eigen::Matrix< double, 3, Eigen::Dynamic > AngularJacobian
Definition: MathTypes.hpp:113
Eigen::Matrix< double, 3, Eigen::Dynamic > LinearJacobian
Definition: MathTypes.hpp:112
Definition: BulletCollisionDetector.cpp:65