/usr/include/kdl/jacobian.hpp is in liborocos-kdl-dev 1.3.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDL_JACOBIAN_HPP
#define KDL_JACOBIAN_HPP
#include "frames.hpp"
#include <Eigen/Core>
namespace KDL
{
// Equal is friend function, but default arguments for friends are forbidden (ยง8.3.6.4)
class Jacobian;
bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon);
class Jacobian
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Eigen::Matrix<double,6,Eigen::Dynamic> data;
Jacobian();
explicit Jacobian(unsigned int nr_of_columns);
Jacobian(const Jacobian& arg);
///Allocates memory for new size (can break realtime behavior)
void resize(unsigned int newNrOfColumns);
///Allocates memory if size of this and argument is different
Jacobian& operator=(const Jacobian& arg);
bool operator ==(const Jacobian& arg)const;
bool operator !=(const Jacobian& arg)const;
friend bool Equal(const Jacobian& a,const Jacobian& b,double eps);
~Jacobian();
double operator()(unsigned int i,unsigned int j)const;
double& operator()(unsigned int i,unsigned int j);
unsigned int rows()const;
unsigned int columns()const;
friend void SetToZero(Jacobian& jac);
friend bool changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
friend bool changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
friend bool changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
Twist getColumn(unsigned int i) const;
void setColumn(unsigned int i,const Twist& t);
void changeRefPoint(const Vector& base_AB);
void changeBase(const Rotation& rot);
void changeRefFrame(const Frame& frame);
};
bool changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
bool changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
bool changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
}
#endif
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