JacobianCalculator Class Reference

JacobianCalculator provides an interface for obtaining a Jacobian. More...

#include <JacobianCalculator.hpp>

Inherited by DeviceJacobianCalculator, and JointDeviceJacobianCalculator.

Public Types
typedef rw::core::Ptr< JacobianCalculator >	Ptr
	smart pointer type

Public Member Functions
virtual	~JacobianCalculator ()
	Destructor.
virtual rw::math::Jacobian	get (const rw::kinematics::State &state) const =0
	Returns the Jacobian associated to state. More...

Detailed Description

JacobianCalculator provides an interface for obtaining a Jacobian.

Member Function Documentation

get()

virtual rw::math::Jacobian get ( const rw::kinematics::State &  state ) const

pure virtual

Returns the Jacobian associated to state.

Parameters

state

[in] State for which to calculate the Jacobian

Returns

Jacobian for state

Implemented in JointDeviceJacobianCalculator, and DeviceJacobianCalculator.

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

• JacobianCalculator.hpp