33 #ifndef DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
34 #define DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
49 template <
class NodeType>
55 const Frame* _inCoordinatesOf)
const override final;
59 const Eigen::Vector3d& _offset)
const override final;
63 const Eigen::Vector3d& _offset,
64 const Frame* _inCoordinatesOf)
const override final;
68 const Eigen::Vector3d& _offset)
const override final;
76 const Eigen::Vector3d& _offset,
85 const Frame* _inCoordinatesOf)
const override final;
89 const Eigen::Vector3d& _offset)
const override final;
93 const Eigen::Vector3d& _offset,
94 const Frame* _inCoordinatesOf)
const override final;
98 const Frame* _inCoordinatesOf)
const override final;
102 const Eigen::Vector3d& _offset,
111 const Eigen::Vector3d& _offset,
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