Type Definition arcos_kdl::jacobian::Jacobian

pub type Jacobian = MatrixMN<f64, U6, Dynamic>;

The jacobian stores a twist for each joint of a kinematic chain

Jacobians are matrices of the form 6xn where n is the number of joints of a certain kinematic chain.

Trait Implementations

impl JacobianSolver for Jacobian

fn solve_from_chain(&mut self, chain: &Chain, angles: &Vec<f64>)

Calculate the jacobian of a chain at a specific joint-space configuration

impl JointOperations for Jacobian

fn get_joint_twist(&self, joint_index: usize) -> Twist

Get the twist represented by the n-th joint

fn new_ref_point(&mut self, new_ref: Vector)

Change the reference point of each twist

fn new_ref_base(&mut self, new_ref: Matrix3<f64>)

Change the reference rotation of each twist

fn new_ref_frame(&mut self, new_ref: Frame)

Change the reference frame of each twist