[−][src]Type Definition arcos_kdl::jacobian::Jacobian

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 JointOperations for Jacobian`[src]

`fn get_joint_twist(&self, joint_index: usize) -> Twist`[src]

`fn new_ref_point(&mut self, new_ref: Vector)`[src]

`fn new_ref_base(&mut self, new_ref: Matrix3<f64>)`[src]

`fn new_ref_frame(&mut self, new_ref: Frame)`[src]

`impl JacobianSolver for Jacobian`[src]

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