rbd::Jacobian Class Reference

#include <RBDyn/RBDyn/Jacobian.h>

Public Member Functions
	Jacobian ()
	Jacobian (const MultiBody &mb, const std::string &bodyName, const Eigen::Vector3d &point=Eigen::Vector3d::Zero())
	Jacobian (const MultiBody &mb, const std::string &bodyName, const std::string &refBodyName, const Eigen::Vector3d &point=Eigen::Vector3d::Zero())
const Eigen::MatrixXd &	jacobian (const MultiBody &mb, const MultiBodyConfig &mbc, const sva::PTransformd &X_0_p)
const Eigen::MatrixXd &	jacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	bodyJacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	vectorJacobian (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &vector)
const Eigen::MatrixXd &	vectorBodyJacobian (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &vector)
const Eigen::MatrixXd &	jacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	bodyJacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)
sva::MotionVecd	velocity (const MultiBody &mb, const MultiBodyConfig &mbc, const sva::PTransformd &X_b_p) const
sva::MotionVecd	velocity (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	bodyVelocity (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	normalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const sva::PTransformd &X_b_p, const sva::MotionVecd &V_b_p) const
sva::MotionVecd	normalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	bodyNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	normalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB, const sva::PTransformd &X_b_p, const sva::MotionVecd &V_b_p) const
sva::MotionVecd	normalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB) const
sva::MotionVecd	bodyNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB) const
void	translateJacobian (const Eigen::Ref< const Eigen::MatrixXd > &jac, const MultiBodyConfig &mbc, const Eigen::Vector3d &point, Eigen::MatrixXd &res)
void	translateBodyJacobian (const Eigen::Ref< const Eigen::MatrixXd > &jac, const MultiBodyConfig &mbc, const Eigen::Vector3d &point, Eigen::MatrixXd &res)
void	fullJacobian (const MultiBody &mb, const Eigen::Ref< const Eigen::MatrixXd > &jac, Eigen::MatrixXd &res) const
void	addFullJacobian (const MultiBody &mb, const Eigen::Ref< const Eigen::MatrixXd > &jac, Eigen::MatrixXd &res) const
void	addFullJacobian (const Blocks &compactPath, const Eigen::Ref< const Eigen::MatrixXd > &jac, Eigen::MatrixXd &res) const
Eigen::MatrixXd	expand (const rbd::MultiBody &mb, const Eigen::Ref< const Eigen::MatrixXd > &jac) const
void	expandAdd (const rbd::MultiBody &mb, const Eigen::Ref< const Eigen::MatrixXd > &jac, Eigen::MatrixXd &res) const
Blocks	compactPath (const rbd::MultiBody &mb) const
void	expandAdd (const Blocks &compactPath, const Eigen::Ref< const Eigen::MatrixXd > &jac, Eigen::MatrixXd &res) const
MultiBody	subMultiBody (const MultiBody &mb) const
const std::vector< int > &	jointsPath () const
int	dof () const
const Eigen::Vector3d &	point () const
void	point (const Eigen::Vector3d &point)
const Eigen::MatrixXd &	sJacobian (const MultiBody &mb, const MultiBodyConfig &mbc, const sva::PTransformd &X_0_p)
const Eigen::MatrixXd &	sJacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	sBodyJacobian (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	sVectorJacobian (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &vec)
const Eigen::MatrixXd &	sVectorBodyJacobian (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &vec)
MultiBody	sSubMultiBody (const MultiBody &mb) const
const Eigen::MatrixXd &	sJacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)
const Eigen::MatrixXd &	sBodyJacobianDot (const MultiBody &mb, const MultiBodyConfig &mbc)
void	sTranslateJacobian (const Eigen::MatrixXd &jac, const MultiBodyConfig &mbc, const Eigen::Vector3d &point, Eigen::MatrixXd &res)
void	sFullJacobian (const MultiBody &mb, const Eigen::MatrixXd &jac, Eigen::MatrixXd &res) const
sva::MotionVecd	sVelocity (const MultiBody &mb, const MultiBodyConfig &mbc, const sva::PTransformd &X_b_p) const
sva::MotionVecd	sVelocity (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	sNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const sva::PTransformd &X_b_p, const sva::MotionVecd &V_b_p) const
sva::MotionVecd	sNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB, const sva::PTransformd &X_b_p, const sva::MotionVecd &V_b_p) const
sva::MotionVecd	sNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	sBodyVelocity (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	sBodyNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc) const
sva::MotionVecd	sNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB) const
sva::MotionVecd	sBodyNormalAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc, const std::vector< sva::MotionVecd > &normalAccB) const

Detailed Description

Algorithm to compute the jacobian of a specified body.

Constructor & Destructor Documentation

Jacobian() [1/3]

rbd::Jacobian::Jacobian

(

)

Jacobian() [2/3]

rbd::Jacobian::Jacobian	(	const MultiBody &	mb,
		const std::string &	bodyName,
		const Eigen::Vector3d &	point = Eigen::Vector3d::Zero()
	)

Create a jacobian from the root body to the specified body.

Parameters

mb	Multibody where bodyName is in.
bodyName	Specified body.
point	Point in the body expressed in body coordinate.

Exceptions

std::out_of_range

If bodyName don't exist.

Jacobian() [3/3]

rbd::Jacobian::Jacobian	(	const MultiBody &	mb,
		const std::string &	bodyName,
		const std::string &	refBodyName,
		const Eigen::Vector3d &	point = Eigen::Vector3d::Zero()
	)

Create a jacobian from a reference body to the specified body.

Parameters

mb	Multibody where bodyName is in.
bodyName	Specified body.
refBodyName	Reference body.
point	Point in the body expressed in body coordinate.

Exceptions

std::out_of_range

If bodyName don't exist.

Member Function Documentation

addFullJacobian() [1/2]

void rbd::Jacobian::addFullJacobian	(	const Blocks &	compactPath,
		const Eigen::Ref< const Eigen::MatrixXd > &	jac,
		Eigen::MatrixXd &	res
	)		const

Accumulate the projection of the jacobian in the full robot parameters vector using a compact representation of the DoF.

Parameters

compactPath	Blocks representing the compact path
jac	Jacobian to project.
res	Projected Jacobian (must be allocated).

addFullJacobian() [2/2]

void rbd::Jacobian::addFullJacobian	(	const MultiBody &	mb,
		const Eigen::Ref< const Eigen::MatrixXd > &	jac,
		Eigen::MatrixXd &	res
	)		const

Accumulate the projection of the jacobian in the full robot parameters vector

Parameters

mb	MuliBody used has model.
jac	Jacobian to project.
res	Projected Jacobian (must be allocated).

bodyJacobian()

const Eigen::MatrixXd& rbd::Jacobian::bodyJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the jacobian in body coordinate frame.

Parameters

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

Returns

Jacobian of mb with mbc configuration.

bodyJacobianDot()

const Eigen::MatrixXd& rbd::Jacobian::bodyJacobianDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the time derivative of the jacobian in body frame.

Parameters

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

Returns

Time derivativo of the jacobian of mb with mbc configuration.

bodyNormalAcceleration() [1/2]

sva::MotionVecd rbd::Jacobian::bodyNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

Compute the end body point normal acceleration in body coordinate (JDotBody·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyVelB, jointVelocity, parentToSon.

Returns

End body point normal acceleration in body coordinate.

bodyNormalAcceleration() [2/2]

sva::MotionVecd rbd::Jacobian::bodyNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

Compute the end body point normal acceleration in body coordinate (JDotBody·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use nothing.
normalAccB	Normal bodies acceleration in body frame.

Returns

End body point normal acceleration in body coordinate.

bodyVelocity()

sva::MotionVecd rbd::Jacobian::bodyVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

Compute the end body point velocity in body coordinate (JBody·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyVelB.

Returns

End body point velocity in body coordinate.

compactPath()

Blocks rbd::Jacobian::compactPath

(

const rbd::MultiBody &

mb

)

const

Compute a compact kinematic path, i.e. the sequence of consecutive blocks of DoF contained in the original path.

Parameters

mb	MultiBody used as model.

dof()

int rbd::Jacobian::dof ( ) const

inline

Returns

The number of degree of freedom in the joint path

expand()

Eigen::MatrixXd rbd::Jacobian::expand	(	const rbd::MultiBody &	mb,
		const Eigen::Ref< const Eigen::MatrixXd > &	jac
	)		const

Expand a symmetric product of a jacobian by its transpose onto every DoF.

Parameters

mb	MultiBody used as model.
jac	Result to expand

expandAdd() [1/2]

void rbd::Jacobian::expandAdd	(	const Blocks &	compactPath,
		const Eigen::Ref< const Eigen::MatrixXd > &	jac,
		Eigen::MatrixXd &	res
	)		const

Expand a symmetric product of a jacobian by its transpose onto every DoF and accumulate the result using a compact representation of the DoF.

Parameters

compactPath	Blocks representing the compact path kinematic path of the Jacobian
jac	Result to expand and accumulate
res	Accumulator matrix

expandAdd() [2/2]

void rbd::Jacobian::expandAdd	(	const rbd::MultiBody &	mb,
		const Eigen::Ref< const Eigen::MatrixXd > &	jac,
		Eigen::MatrixXd &	res
	)		const

Expand a symmetric product of a jacobian by its transpose onto every DoF and accumulate the result.

Parameters

mb	MultiBody used as model.
jac	Result to expand and accumulate
res	Accumulator matrix

fullJacobian()

void rbd::Jacobian::fullJacobian	(	const MultiBody &	mb,
		const Eigen::Ref< const Eigen::MatrixXd > &	jac,
		Eigen::MatrixXd &	res
	)		const

Project the jacobian in the full robot parameters vector.

Parameters

mb	MuliBody used has model.
jac	Jacobian to project.
res	Projected Jacobian (must be allocated).

jacobian() [1/2]

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

Compute the jacobian in world frame.

Parameters

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

Returns

Jacobian of mb with mbc configuration.

jacobian() [2/2]

const Eigen::MatrixXd& rbd::Jacobian::jacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const sva::PTransformd &	X_0_p
	)

Compute the jacobian at the point/frame specified by X_0_p.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW and motionSubspace.
X_0_p	Jacobian point/frame

Returns

Jacobian of mb with mbc configuration.

jacobianDot()

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

Compute the time derivative of the 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.

jointsPath()

const std::vector<int>& rbd::Jacobian::jointsPath ( ) const

inline

Returns

The joint path vector from the root to the specified body.

normalAcceleration() [1/4]

sva::MotionVecd rbd::Jacobian::normalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

Compute the end body point normal acceleration in world coordinate (JDot·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelW, bodyVelB, jointVelocity, parentToSon.

Returns

End body point normal acceleration in world coordinate.

normalAcceleration() [2/4]

sva::MotionVecd rbd::Jacobian::normalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

Compute the end body point normal acceleration in world coordinate (JDot·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelW, bodyVelB.
normalAccB	Normal bodies acceleration in body frame.

Returns

End body point normal acceleration in world coordinate.

normalAcceleration() [3/4]

sva::MotionVecd rbd::Jacobian::normalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB,
		const sva::PTransformd &	X_b_p,
		const sva::MotionVecd &	V_b_p
	)		const

Compute the end body point normal acceleration in world coordinate (JDot·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyVelB.
normalAccB	Normal bodies acceleration in body frame.
X_b_p	normal acceleration point/frame.
V_b_p	X_b_p velocity.

Returns

End body point normal acceleration in world coordinate.

normalAcceleration() [4/4]

sva::MotionVecd rbd::Jacobian::normalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const sva::PTransformd &	X_b_p,
		const sva::MotionVecd &	V_b_p
	)		const

Compute the end body point normal acceleration in world coordinate (JDot·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyVelB, jointVelocity, parentToSon.
X_b_p	normal acceleration point/frame.
V_b_p	X_b_p velocity.

Returns

End body point normal acceleration in world coordinate.

point() [1/2]

const Eigen::Vector3d& rbd::Jacobian::point ( ) const

inline

Returns

Static translation in the body exprimed in body coordinate.

point() [2/2]

void rbd::Jacobian::point ( const Eigen::Vector3d &  point )

inline

Parameters

point

Static translation in the body exprimed in body coordinate.

sBodyJacobian()

const Eigen::MatrixXd& rbd::Jacobian::sBodyJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

bodyJacobian.

Exceptions

std::domain_error

If mb don't match mbc or jointPath.

sBodyJacobianDot()

const Eigen::MatrixXd& rbd::Jacobian::sBodyJacobianDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

safe version of

See also

bodyJacobianDot.

Exceptions

std::domain_error

If mb don't match mbc or jointPath.

sBodyNormalAcceleration() [1/2]

sva::MotionVecd rbd::Jacobian::sBodyNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

safe version of

See also

bodyNormalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc.

sBodyNormalAcceleration() [2/2]

sva::MotionVecd rbd::Jacobian::sBodyNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

safe version of

See also

bodyNormalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc or normalAccB.

sBodyVelocity()

sva::MotionVecd rbd::Jacobian::sBodyVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

safe version of

See also

bodyVelocity.

Exceptions

std::domain_error

If mb don't match mbc.

sFullJacobian()

void rbd::Jacobian::sFullJacobian	(	const MultiBody &	mb,
		const Eigen::MatrixXd &	jac,
		Eigen::MatrixXd &	res
	)		const

safe version of

See also

fullJacobian.

Exceptions

std::domain_error

If mb don't match jointPath or res size missmatch.

sJacobian() [1/2]

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

safe version of

See also

jacobian.

Exceptions

std::domain_error

If mb don't match mbc or jointPath.

sJacobian() [2/2]

const Eigen::MatrixXd& rbd::Jacobian::sJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const sva::PTransformd &	X_0_p
	)

safe version of

See also

jacobian.

Exceptions

std::domain_error

If mb don't match mbc or jointPath.

sJacobianDot()

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

safe version of

See also

jacobianDot.

Exceptions

std::domain_error

If mb don't match mbc or jointPath.

sNormalAcceleration() [1/4]

sva::MotionVecd rbd::Jacobian::sNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

safe version of

See also

normalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc.

sNormalAcceleration() [2/4]

sva::MotionVecd rbd::Jacobian::sNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB
	)		const

safe version of

See also

normalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc or normalAccB.

sNormalAcceleration() [3/4]

sva::MotionVecd rbd::Jacobian::sNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const std::vector< sva::MotionVecd > &	normalAccB,
		const sva::PTransformd &	X_b_p,
		const sva::MotionVecd &	V_b_p
	)		const

safe version of

See also

normalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc or normalAccB.

sNormalAcceleration() [4/4]

sva::MotionVecd rbd::Jacobian::sNormalAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const sva::PTransformd &	X_b_p,
		const sva::MotionVecd &	V_b_p
	)		const

safe version of

See also

normalAcceleration.

Exceptions

std::domain_error

If mb don't match mbc or normalAccB.

sSubMultiBody()

MultiBody rbd::Jacobian::sSubMultiBody

(

const MultiBody &

mb

)

const

safe version of

See also

subMultiBody.

Exceptions

std::domain_error

If mb don't match jointPath.

sTranslateJacobian()

void rbd::Jacobian::sTranslateJacobian	(	const Eigen::MatrixXd &	jac,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	point,
		Eigen::MatrixXd &	res
	)

safe version of

See also

translateJacobian.

Exceptions

std::domain_error

If mb don't match mbc or jointPath or res size missmatch.

subMultiBody()

MultiBody rbd::Jacobian::subMultiBody

(

const MultiBody &

mb

)

const

Returns

MultiBody that correspond to the path between the root and the specified body.

sVectorBodyJacobian()

const Eigen::MatrixXd& rbd::Jacobian::sVectorBodyJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	vec
	)

safe version of

See also

vectorBodyJacobian.

Exceptions

std::domain_error

If mb don't match mbc or jointPath.

sVectorJacobian()

const Eigen::MatrixXd& rbd::Jacobian::sVectorJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	vec
	)

safe version of

See also

vectorJacobian.

Exceptions

std::domain_error

If mb don't match mbc or jointPath.

sVelocity() [1/2]

sva::MotionVecd rbd::Jacobian::sVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

safe version of

See also

velocity.

Exceptions

std::domain_error

If mb don't match mbc.

sVelocity() [2/2]

sva::MotionVecd rbd::Jacobian::sVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const sva::PTransformd &	X_b_p
	)		const

safe version of

See also

velocity.

Exceptions

std::domain_error

If mb don't match mbc.

translateBodyJacobian()

void rbd::Jacobian::translateBodyJacobian	(	const Eigen::Ref< const Eigen::MatrixXd > &	jac,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	point,
		Eigen::MatrixXd &	res
	)

Translate a jacobian at a given position in body frame.

Parameters

jac	Jacobian to translate.
mbc	Use bodyPosW.
point	Point to translate jacobian.
res	Translated jacobian (must be allocated).

translateJacobian()

void rbd::Jacobian::translateJacobian	(	const Eigen::Ref< const Eigen::MatrixXd > &	jac,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	point,
		Eigen::MatrixXd &	res
	)

Translate a jacobian at a given position.

Parameters

jac	Jacobian to translate.
mbc	Use bodyPosW.
point	Point to translate jacobian.
res	Translated jacobian (must be allocated).

vectorBodyJacobian()

const Eigen::MatrixXd& rbd::Jacobian::vectorBodyJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	vector
	)

Compute a vector jacobian in body coordinate frame. This function only fill the translation component of the jacobian.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW and motionSubspace.
vector	Vector from then jacobian point (body coordinate).

Returns

Jacobian of mb with mbc configuration.

vectorJacobian()

const Eigen::MatrixXd& rbd::Jacobian::vectorJacobian	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	vector
	)

Compute a vector jacobian in world coordinate frame. This function only fill the translation component of the jacobian.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW and motionSubspace.
vector	Vector from then jacobian point (body coordinate).

Returns

Jacobian of mb with mbc configuration.

velocity() [1/2]

sva::MotionVecd rbd::Jacobian::velocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)		const

Compute the end body point velocity in world coordinate (J·alpha).

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelB.

Returns

End body point velocity in world coordinate.

velocity() [2/2]

sva::MotionVecd rbd::Jacobian::velocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const sva::PTransformd &	X_b_p
	)		const

Compute the end body point velocity at the point/frame specified by X_b_p.

Parameters

mb	MultiBody used has model.
mbc	Use bodyVelB.
X_b_p	velocity point/frame.

Returns

End body point velocity in world coordinate.

---

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

• src/RBDyn/RBDyn/Jacobian.h