rbd::CoMJacobianDummy Class Reference

#include <RBDyn/RBDyn/CoM.h>

Public Member Functions
	CoMJacobianDummy ()
	CoMJacobianDummy (const MultiBody &mb)
	CoMJacobianDummy (const MultiBody &mb, std::vector< double > weight)
	~CoMJacobianDummy ()
const Eigen::MatrixXd &	jacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	jacobian () const noexcept
const Eigen::MatrixXd &	jacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	jacobianDot () const noexcept
const Eigen::MatrixXd &	sJacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	sJacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)

Detailed Description

Compute the CoM jacobian with a simple but slow algorithm.

Constructor & Destructor Documentation

CoMJacobianDummy() [1/3]

rbd::CoMJacobianDummy::CoMJacobianDummy

(

)

CoMJacobianDummy() [2/3]

rbd::CoMJacobianDummy::CoMJacobianDummy

(

const MultiBody &

mb

)

Parameters

mb	MultiBody used has model.

CoMJacobianDummy() [3/3]

rbd::CoMJacobianDummy::CoMJacobianDummy	(	const MultiBody &	mb,
		std::vector< double >	weight
	)

Parameters

mb	MultiBody used has model.
weight	Per body weight.

~CoMJacobianDummy()

rbd::CoMJacobianDummy::~CoMJacobianDummy

(

)

Member Function Documentation

jacobian() [1/2]

const Eigen::MatrixXd& rbd::CoMJacobianDummy::jacobian ( ) const

inlinenoexcept

Access the last computed CoM jacobian

Returns

Latest CoM jacobian that was computed by this object

jacobian() [2/2]

const Eigen::MatrixXd& rbd::CoMJacobianDummy::jacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the CoM jacobian.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW and motionSubspace.

Returns

CoM Jacobian of mb with mbc configuration.

jacobianDot() [1/2]

const Eigen::MatrixXd& rbd::CoMJacobianDummy::jacobianDot ( ) const

inlinenoexcept

Access the last computed derivative of the CoM jacobian

Returns

Latest derivative of the CoM jacobian that was computed by this object

jacobianDot() [2/2]

const Eigen::MatrixXd& rbd::CoMJacobianDummy::jacobianDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the time derivative of the CoM jacobian.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelB, bodyVelW, and motionSubspace.

Returns

Time derivativo of the jacobian of mb with mbc configuration.

sJacobian()

const Eigen::MatrixXd& rbd::CoMJacobianDummy::sJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

jacobian.

Exceptions

std::domain_error

If mb don't match mbc.

sJacobianDot()

const Eigen::MatrixXd& rbd::CoMJacobianDummy::sJacobianDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

jacobianDot.

Exceptions

std::domain_error

If mb don't match mbc.

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The documentation for this class was generated from the following file:

• src/RBDyn/RBDyn/CoM.h