/usr/include/kdl/jntspaceinertiamatrix.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 | // Copyright (C) 2009 Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
// Version: 1.0
// Author: Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
// Maintainer: Dominick Vanthienen <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_JNTSPACEINERTIAMATRIX_HPP
#define KDL_JNTSPACEINERTIAMATRIX_HPP
#include "frames.hpp"
#include "jacobian.hpp"
#include "jntarray.hpp"
#include <Eigen/Core>
namespace KDL
{
// Equal is friend function, but default arguments for friends are forbidden (ยง8.3.6.4)
class JntSpaceInertiaMatrix;
bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps=epsilon);
/**
* @brief This class represents an fixed size matrix containing
* the Joint-Space Inertia Matrix of a KDL::Chain.
*
* \warning An object constructed with the default constructor provides
* a valid, but inert, object. Many of the member functions will do
* the correct thing and have no affect on this object, but some
* member functions can _NOT_ deal with an inert/empty object. These
* functions will assert() and exit the program instead. The intended use
* case for the default constructor (in an RTT/OCL setting) is outlined in
* code below - the default constructor plus the resize() function allow
* use of JntSpaceInertiaMatrix objects whose size is set within a configureHook() call
* (typically based on a size determined from a property).
\code
class MyTask : public RTT::TaskContext
{
JntSpaceInertiaMatrix j;
MyTask()
{} // invokes j's default constructor
bool configureHook()
{
unsigned int size = some_property.rvalue();
j.resize(size)
...
}
void updateHook()
{
** use j here
}
};
/endcode
*/
class JntSpaceInertiaMatrix
{
public:
Eigen::MatrixXd data;
/** Construct with _no_ data array
* @post NULL == data
* @post 0 == rows()
* @warning use of an object constructed like this, without
* a resize() first, may result in program exit! See class
* documentation.
*/
JntSpaceInertiaMatrix();
/**
* Constructor of the Joint-Space Inertia Matrix
*
* @param size of the matrix, this cannot be changed
* afterwards. Size rows and size columns.
* @pre 0 < size
* @post NULL != data
* @post 0 < rows()
* @post all elements in data have 0 value
*/
explicit JntSpaceInertiaMatrix(int size);
/** Copy constructor
* @note Will correctly copy an empty object
*/
JntSpaceInertiaMatrix(const JntSpaceInertiaMatrix& arg);
~JntSpaceInertiaMatrix();
/** Resize the array
* @warning This causes a dynamic allocation (and potentially
* also a dynamic deallocation). This _will_ negatively affect
* real-time performance!
*
* @post newSize == rows()
* @post NULL != data
* @post all elements in data have 0 value
*/
void resize(unsigned int newSize);
JntSpaceInertiaMatrix& operator = ( const JntSpaceInertiaMatrix& arg);
/**
* get_item operator for the joint matrix
*
*
* @return the joint value at position i, starting from 0
* @pre 0 != size (ie non-default constructor or resize() called)
*/
double operator()(unsigned int i,unsigned int j)const;
/**
* set_item operator
*
* @return reference to the joint value at position i,starting
*from zero.
* @pre 0 != size (ie non-default constructor or resize() called)
*/
double& operator()(unsigned int i,unsigned int j);
/**
* Returns the number of rows and columns of the matrix
*
*/
unsigned int rows()const;
/**
* Returns the number of columns of the matrix.
*/
unsigned int columns()const;
/**
* Function to add two joint matrix, all the arguments must
* have the same size: A + B = C. This function is
* aliasing-safe, A or B can be the same array as C.
*
* @param src1 A
* @param src2 B
* @param dest C
*/
friend void Add(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
/**
* Function to subtract two joint matrix, all the arguments must
* have the same size: A - B = C. This function is
* aliasing-safe, A or B can be the same array as C.
*
* @param src1 A
* @param src2 B
* @param dest C
*/
friend void Subtract(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,JntSpaceInertiaMatrix& dest);
/**
* Function to multiply all the array values with a scalar
* factor: A*b=C. This function is aliasing-safe, A can be the
* same array as C.
*
* @param src A
* @param factor b
* @param dest C
*/
friend void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
/**
* Function to divide all the array values with a scalar
* factor: A/b=C. This function is aliasing-safe, A can be the
* same array as C.
*
* @param src A
* @param factor b
* @param dest C
*/
friend void Divide(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);
/**
* Function to multiply a KDL::Jacobian with a KDL::JntSpaceInertiaMatrix
* to get a KDL::Twist, it should not be used to calculate the
* forward velocity kinematics, the solver classes are built
* for this purpose.
* J*q = t
*
* @param jac J
* @param src q
* @param dest t
* @post dest==Twist::Zero() if 0==src.rows() (ie src is empty)
*/
friend void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec, JntArray& dest);
/**
* Function to set all the values of the array to 0
*
* @param array
*/
friend void SetToZero(JntSpaceInertiaMatrix& matrix);
/**
* Function to check if two matrices are the same with a
*precision of eps
*
* @param src1
* @param src2
* @param eps default: epsilon
* @return true if each element of src1 is within eps of the same
* element in src2, or if both src1 and src2 have no data (ie 0==rows())
*/
friend bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps);
friend bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
//friend bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
};
bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
//bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
}
#endif
|