DART  6.6.2
TemplatedJacobianNode.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2018, 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 
54  // Documentation inherited
56  const Frame* _inCoordinatesOf) const override final;
57 
58  // Documentation inherited
60  const Eigen::Vector3d& _offset) const override final;
61 
62  // Documentation inherited
64  const Eigen::Vector3d& _offset,
65  const Frame* _inCoordinatesOf) const override final;
66 
67  // Documentation inherited
69  const Eigen::Vector3d& _offset) const override final;
70 
71  // Documentation inherited
73  const Frame* _inCoordinatesOf = Frame::World()) const override final;
74 
75  // Documentation inherited
77  const Eigen::Vector3d& _offset,
78  const Frame* _inCoordinatesOf = Frame::World()) const override final;
79 
80  // Documentation inherited
82  const Frame* _inCoordinatesOf = Frame::World()) const override final;
83 
84  // Documentation inherited
86  const Frame* _inCoordinatesOf) const override final;
87 
88  // Documentation inherited
90  const Eigen::Vector3d& _offset) const override final;
91 
92  // Documentation inherited
94  const Eigen::Vector3d& _offset,
95  const Frame* _inCoordinatesOf) const override final;
96 
97  // Documentation inherited
99  const Frame* _inCoordinatesOf) const override final;
100 
101  // Documentation inherited
103  const Eigen::Vector3d& _offset,
104  const Frame* _inCoordinatesOf = Frame::World()) const override final;
105 
106  // Documentation inherited
108  const Frame* _inCoordinatesOf = Frame::World()) const override final;
109 
110  // Documentation inherited
112  const Eigen::Vector3d& _offset,
113  const Frame* _inCoordinatesOf = Frame::World()) const override final;
114 
115  // Documentation inherited
117  const Frame* _inCoordinatesOf = Frame::World()) const override final;
118 
119 protected:
120 
123 
124 };
125 
126 } // namespace dynamics
127 } // namespace dart
128 
130 
131 #endif // DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
The Frame class serves as the backbone of DART's kinematic tree structure.
Definition: Frame.hpp:57
static Frame * World()
Definition: Frame.cpp:72
The JacobianNode class serves as a common interface for BodyNodes and EndEffectors to both be used as...
Definition: JacobianNode.hpp:54
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:148
TemplatedJacobianNode(BodyNode *bn)
Constructor.
Definition: TemplatedJacobianNode.hpp:311
math::LinearJacobian getLinearJacobian(const Frame *_inCoordinatesOf=Frame::World()) const override final
Return the linear Jacobian targeting the origin of this BodyNode.
Definition: TemplatedJacobianNode.hpp:102
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:296
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:255
Eigen::Matrix< double, 6, Eigen::Dynamic > Jacobian
Definition: MathTypes.hpp:108
Eigen::Matrix< double, 3, Eigen::Dynamic > AngularJacobian
Definition: MathTypes.hpp:107
Eigen::Matrix< double, 3, Eigen::Dynamic > LinearJacobian
Definition: MathTypes.hpp:106
Definition: BulletCollisionDetector.cpp:63