Struct to pass around all variations of Jacobian matrices @detail fw_dofs is the Jacobian matrix that maps differential torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_cons is the 6x6 Jacobian matrix that maps virtual (helper, constrained) torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_all is the 6x6 Jacobian matrix that maps all six torsion angles (real and virtual) [rad/s] or [delta rad] on Cartesian reference frame inv_dofs is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto torsion angles inv_cons is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto virtual torsion angles that represent the modules constraints inv_all is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto all torsion angles (real and virtual)
More...
|
| numeric::MathMatrix< core::Real > | fw_dofs {6,6, core::Real(0)} |
| |
| numeric::MathMatrix< core::Real > | fw_cons {6,6, core::Real(0)} |
| |
| numeric::MathMatrix< core::Real > | fw_all {6,6, core::Real(0)} |
| |
| numeric::MathMatrix< core::Real > | inv_dofs {6,6, core::Real(0)} |
| |
| numeric::MathMatrix< core::Real > | inv_cons {6,6, core::Real(0)} |
| |
| numeric::MathMatrix< core::Real > | inv_all {6,6, core::Real(0)} |
| |
Struct to pass around all variations of Jacobian matrices @detail fw_dofs is the Jacobian matrix that maps differential torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_cons is the 6x6 Jacobian matrix that maps virtual (helper, constrained) torsion angles [rad/s] or [delta rad] on Cartesian reference frame fw_all is the 6x6 Jacobian matrix that maps all six torsion angles (real and virtual) [rad/s] or [delta rad] on Cartesian reference frame inv_dofs is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto torsion angles inv_cons is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto virtual torsion angles that represent the modules constraints inv_all is the 6x6 Jacobian matrix that maps twist from Cartesian ref. frame onto all torsion angles (real and virtual)
