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core::kinematics::jacobian::ModuleType1::jacobian_struct Struct Reference

Struct to pass around all variations of Jacobian matrices fw_dofs is the Jacobian matrix that maps differential torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_cons is the 6x6 Jacobian matrix that maps virtual (helper, constrained) torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_all is the 6x6 Jacobian matrix that maps all six torsion angles (real and virtual) [rad/s] or [delta rad] on Cartesian reference frame inv_dofs is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto torsion angles inv_cons is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto virtual torsion angles that represent the modules constraints inv_all is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto all torsion angles (real and virtual) More...

#include <ModuleType1.hh>

Public Attributes

numeric::MathMatrix< core::Realfw_dofs {6,6, core::Real(0)}
 
numeric::MathMatrix< core::Realfw_cons {6,6, core::Real(0)}
 
numeric::MathMatrix< core::Realfw_all {6,6, core::Real(0)}
 
numeric::MathMatrix< core::Realinv_dofs {6,6, core::Real(0)}
 
numeric::MathMatrix< core::Realinv_cons {6,6, core::Real(0)}
 
numeric::MathMatrix< core::Realinv_all {6,6, core::Real(0)}
 

Detailed Description

Struct to pass around all variations of Jacobian matrices fw_dofs is the Jacobian matrix that maps differential torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_cons is the 6x6 Jacobian matrix that maps virtual (helper, constrained) torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_all is the 6x6 Jacobian matrix that maps all six torsion angles (real and virtual) [rad/s] or [delta rad] on Cartesian reference frame inv_dofs is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto torsion angles inv_cons is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto virtual torsion angles that represent the modules constraints inv_all is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto all torsion angles (real and virtual)

Member Data Documentation

numeric::MathMatrix<core::Real> core::kinematics::jacobian::ModuleType1::jacobian_struct::fw_all {6,6, core::Real(0)}
numeric::MathMatrix<core::Real> core::kinematics::jacobian::ModuleType1::jacobian_struct::fw_cons {6,6, core::Real(0)}
numeric::MathMatrix<core::Real> core::kinematics::jacobian::ModuleType1::jacobian_struct::fw_dofs {6,6, core::Real(0)}
numeric::MathMatrix<core::Real> core::kinematics::jacobian::ModuleType1::jacobian_struct::inv_all {6,6, core::Real(0)}
numeric::MathMatrix<core::Real> core::kinematics::jacobian::ModuleType1::jacobian_struct::inv_cons {6,6, core::Real(0)}
numeric::MathMatrix<core::Real> core::kinematics::jacobian::ModuleType1::jacobian_struct::inv_dofs {6,6, core::Real(0)}

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