Class to define a robot Jacobian matrix. More...

#include <Jacobian.hpp>

Inheritance diagram for state_representation::Jacobian:

Public Member Functions
	Jacobian ()
	Empty constructor for a Jacobian. More...

	Jacobian (const std::string &robot_name, unsigned int nb_joints, const std::string &frame, const std::string &reference_frame="world")
	Constructor with name, number of joints, frame name and reference frame provided. More...

	Jacobian (const std::string &robot_name, const std::vector< std::string > &joint_names, const std::string &frame, const std::string &reference_frame="world")
	Constructor with name, joint names, frame name and reference frame provided. More...

	Jacobian (const std::string &robot_name, const std::string &frame, const Eigen::MatrixXd &data, const std::string &reference_frame="world")
	Constructor with name, frame, Jacobian matrix and reference frame provided. More...

	Jacobian (const std::string &robot_name, const std::vector< std::string > &joint_names, const std::string &frame, const Eigen::MatrixXd &data, const std::string &reference_frame="world")
	Constructor with name, joint names, frame name, Jacobian matrix and reference frame provided. More...

	Jacobian (const Jacobian &jacobian)
	Copy constructor of a Jacobian. More...

Jacobian &	operator= (const Jacobian &jacobian)
	Copy assignment operator that have to be defined to the custom assignment operator. More...

unsigned int	rows () const
	Getter of the number of rows attribute. More...

Eigen::VectorXd	row (unsigned int index) const
	Accessor of the row data at given index. More...

unsigned int	cols () const
	Getter of the number of columns attribute. More...

Eigen::VectorXd	col (unsigned int index) const
	Accessor of the column data at given index. More...

const std::vector< std::string > &	get_joint_names () const
	Getter of the joint_names attribute. More...

void	set_joint_names (unsigned int nb_joints)
	Setter of the joint_names attribute from the number of joints. More...

void	set_joint_names (const std::vector< std::string > &joint_names)
	Setter of the joint_names attribute from a vector of joint names. More...

const std::string &	get_frame () const
	Getter of the frame attribute. More...

const std::string &	get_reference_frame () const
	Getter of the reference_frame attribute. More...

void	set_reference_frame (const CartesianPose &reference_frame)
	Setter of the reference_frame attribute from a CartesianPose Update the value of the data matrix accordingly by changing the reference frame of each columns. This means that the computation needs to be compatible, i.e. the previous reference frame should match the name of the new reference frame as input. More...

const Eigen::MatrixXd &	data () const
	Getter of the data attribute. More...

void	set_data (const Eigen::MatrixXd &data) override
	Setter of the data attribute. More...

bool	is_compatible (const State &state) const override
	Check if the Jacobian matrix is compatible for operations with the state given as argument. More...

void	initialize () override
	Initialize the matrix to a zero value. More...

Jacobian	transpose () const
	Return the transpose of the Jacobian matrix. More...

Jacobian	inverse () const
	Return the inverse of the Jacobian matrix If the matrix is not invertible, an error is thrown advising to use the pseudoinverse function instead. More...

Jacobian	pseudoinverse () const
	Return the pseudoinverse of the Jacobian matrix. More...

Eigen::MatrixXd	operator* (const Eigen::MatrixXd &matrix) const
	Overload the * operator with an arbitrary matrix. More...

Eigen::MatrixXd	operator* (const Jacobian &jacobian) const
	Overload the * operator with another Jacobian. More...

CartesianTwist	operator* (const JointVelocities &dq) const
	Overload the * operator with a JointVelocities. More...

JointVelocities	operator* (const CartesianTwist &twist) const
	Overload the * operator with a CartesianTwist. More...

JointTorques	operator* (const CartesianWrench &wrench) const
	Overload the * operator with a CartesianWrench. More...

Eigen::MatrixXd	solve (const Eigen::MatrixXd &matrix) const
	Solve the system X = inv(J)*M to obtain X which is more efficient than multiplying with the pseudo-inverse. More...

JointVelocities	solve (const CartesianTwist &twist) const
	Solve the system dX = J*dq to obtain dq which is more efficient than multiplying with the pseudo-inverse. More...

double &	operator() (unsigned int row, unsigned int col)
	Overload the () operator in a non const fashion to modify the value at given (row, col) More...

const double &	operator() (unsigned int row, unsigned int col) const
	Overload the () operator const fashion to access the value at given (row, col) More...

Jacobian	copy () const
	Return a copy of the JointPositions. More...

Public Member Functions inherited from state_representation::State
	State ()
	Empty constructor. More...

	State (const StateType &type)
	Constructor only specifying the type of the state from the StateType enumeration. More...

	State (const StateType &type, const std::string &name, const bool &empty=true)
	Constructor with name specification. More...

	State (const State &state)
	Copy constructor from another State. More...

virtual	~State ()=default
	Virtual destructor.

State &	operator= (const State &state)
	Copy assignment operator that have to be defined to the custom assignment operator. More...

const StateType &	get_type () const
	Getter of the type attribute. More...

bool	is_empty () const
	Getter of the empty attribute. More...

void	set_empty (bool empty=true)
	Setter of the empty attribute. More...

void	set_filled ()
	Setter of the empty attribute to false and also reset the timestamp. More...

const std::chrono::time_point< std::chrono::steady_clock > &	get_timestamp () const
	Getter of the timestamp attribute. More...

void	set_timestamp (const std::chrono::time_point< std::chrono::steady_clock > &timepoint)
	Setter of the timestamp attribute. More...

void	reset_timestamp ()
	Reset the timestamp attribute to now. More...

const std::string &	get_name () const
	Getter of the name as const reference. More...

virtual void	set_name (const std::string &name)
	Setter of the name. More...

template<typename DurationT >
bool	is_deprecated (const std::chrono::duration< int64_t, DurationT > &time_delay)
	Check if the state is deprecated given a certain time delay. More...

virtual bool	is_compatible (const State &state) const
	Check if the state is compatible for operations with the state given as argument. More...

virtual void	initialize ()
	Initialize the State to a zero value. More...

virtual void	set_data (const Eigen::VectorXd &data)
	Set the data of the state from a single Eigen vector. More...

virtual void	set_data (const std::vector< double > &data)
	Set the data of the state from a single std vector. More...

virtual void	set_data (const Eigen::MatrixXd &data)
	Set the data of the state from an Eigen matrix. More...

	operator bool () const noexcept
	Boolean operator for the truthiness of a state. More...

Static Public Member Functions
static Jacobian	Random (const std::string &robot_name, unsigned int nb_joints, const std::string &frame, const std::string &reference_frame="world")
	Constructor for a random Jacobian. More...

static Jacobian	Random (const std::string &robot_name, const std::vector< std::string > &joint_names, const std::string &frame, const std::string &reference_frame="world")
	Constructor for a random Jacobian. More...

Friends
void	swap (Jacobian &jacobian1, Jacobian &jacobian2)
	Swap the values of the two Jacobian. More...

std::ostream &	operator<< (std::ostream &os, const Jacobian &jacobian)
	Overload the ostream operator for printing. More...

Jacobian	operator* (const CartesianPose &pose, const Jacobian &jacobian)
	Overload the * operator with a CartesianPose on left side. This is equivalent to a changing of reference frame of the Jacobian. More...

Eigen::MatrixXd	operator* (const Eigen::MatrixXd &matrix, const Jacobian &jacobian)
	Overload the * operator with an arbitrary matrix on the left side. More...

Additional Inherited Members
Protected Member Functions inherited from state_representation::State
void	set_type (const StateType &type)
	Override the state type. More...

Detailed Description

Class to define a robot Jacobian matrix.

Definition at line 20 of file Jacobian.hpp.

Constructor & Destructor Documentation

◆ Jacobian() [1/6]

state_representation::Jacobian::Jacobian ( )

Empty constructor for a Jacobian.

Definition at line 7 of file Jacobian.cpp.

◆ Jacobian() [2/6]

state_representation::Jacobian::Jacobian	(	const std::string &	robot_name,
		unsigned int	nb_joints,
		const std::string &	frame,
		const std::string &	reference_frame = `"world"`
	)

Constructor with name, number of joints, frame name and reference frame provided.

Parameters

robot_name	the name of the associated robot
nb_joints	the number of joints of the robot
frame	the name of the frame at which the Jacobian is computed
reference_frame	the name of the reference frame in which the Jacobian is expressed (default "world")

Definition at line 11 of file Jacobian.cpp.

◆ Jacobian() [3/6]

state_representation::Jacobian::Jacobian	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names,
		const std::string &	frame,
		const std::string &	reference_frame = `"world"`
	)

Constructor with name, joint names, frame name and reference frame provided.

Parameters

robot_name	the name of the associated robot
joint_names	the vector of joint names of the robot
frame	the name of the frame at which the Jacobian is computed
reference_frame	the name of the reference frame in which the Jacobian is expressed (default "world")

Definition at line 25 of file Jacobian.cpp.

◆ Jacobian() [4/6]

state_representation::Jacobian::Jacobian	(	const std::string &	robot_name,
		const std::string &	frame,
		const Eigen::MatrixXd &	data,
		const std::string &	reference_frame = `"world"`
	)

Constructor with name, frame, Jacobian matrix and reference frame provided.

Parameters

robot_name	the name of the associated robot
frame	the name of the frame at which the Jacobian is computed
data	the values of the Jacobian matrix
reference_frame	the name of the reference frame in which the Jacobian is expressed (default "world")

Definition at line 38 of file Jacobian.cpp.

◆ Jacobian() [5/6]

state_representation::Jacobian::Jacobian	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names,
		const std::string &	frame,
		const Eigen::MatrixXd &	data,
		const std::string &	reference_frame = `"world"`
	)

Constructor with name, joint names, frame name, Jacobian matrix and reference frame provided.

Parameters

robot_name	the name of the associated robot
joint_names	the vector of joint names of the robot
frame	the name of the frame at which the Jacobian is computed
data	the values of the Jacobian matrix
reference_frame	the name of the reference frame in which the Jacobian is expressed (default "world")

Definition at line 46 of file Jacobian.cpp.

◆ Jacobian() [6/6]

state_representation::Jacobian::Jacobian ( const Jacobian & jacobian )

Copy constructor of a Jacobian.

Definition at line 55 of file Jacobian.cpp.

Member Function Documentation

◆ col()

Eigen::VectorXd state_representation::Jacobian::col ( unsigned int index ) const

inline

Accessor of the column data at given index.

Parameters

index the index of the desired column

Returns: the column vector at index

Definition at line 356 of file Jacobian.hpp.

◆ cols()

unsigned int state_representation::Jacobian::cols ( ) const

inline

Getter of the number of columns attribute.

Returns: the number of cols

Definition at line 348 of file Jacobian.hpp.

◆ copy()

Jacobian state_representation::Jacobian::copy ( ) const

Return a copy of the JointPositions.

Returns: the copy

Definition at line 258 of file Jacobian.cpp.

◆ data()

const Eigen::MatrixXd & state_representation::Jacobian::data ( ) const

inline

Getter of the data attribute.

Definition at line 392 of file Jacobian.hpp.

◆ get_frame()

const std::string & state_representation::Jacobian::get_frame ( ) const

inline

Getter of the frame attribute.

Definition at line 384 of file Jacobian.hpp.

◆ get_joint_names()

const std::vector< std::string > & state_representation::Jacobian::get_joint_names ( ) const

inline

Getter of the joint_names attribute.

Definition at line 360 of file Jacobian.hpp.

◆ get_reference_frame()

const std::string & state_representation::Jacobian::get_reference_frame ( ) const

inline

Getter of the reference_frame attribute.

Definition at line 388 of file Jacobian.hpp.

◆ initialize()

void state_representation::Jacobian::initialize ( )

overridevirtual

Initialize the matrix to a zero value.

Reimplemented from state_representation::State.

Definition at line 64 of file Jacobian.cpp.

◆ inverse()

Jacobian state_representation::Jacobian::inverse ( ) const

Return the inverse of the Jacobian matrix If the matrix is not invertible, an error is thrown advising to use the pseudoinverse function instead.

Returns: the inverse of the Jacobian

Definition at line 145 of file Jacobian.cpp.

◆ is_compatible()

bool state_representation::Jacobian::is_compatible ( const State & state ) const

overridevirtual

Check if the Jacobian matrix is compatible for operations with the state given as argument.

Parameters

state the state to check compatibility with

Reimplemented from state_representation::State.

Definition at line 88 of file Jacobian.cpp.

◆ operator()() [1/2]

double & state_representation::Jacobian::operator()	(	unsigned int	row,
		unsigned int	col
	)

inline

Overload the () operator in a non const fashion to modify the value at given (row, col)

Parameters

row	the index of the row
the	index of the column

Returns: the reference to the value at the given row and column

Definition at line 407 of file Jacobian.hpp.

◆ operator()() [2/2]

const double & state_representation::Jacobian::operator()	(	unsigned int	row,
		unsigned int	col
	)		const

inline

Overload the () operator const fashion to access the value at given (row, col)

Parameters

row	the index of the row
the	index of the column

Returns: the const reference to the value at the given row and column

Definition at line 417 of file Jacobian.hpp.

◆ operator*() [1/5]

JointVelocities state_representation::Jacobian::operator* ( const CartesianTwist & twist ) const

Overload the * operator with a CartesianTwist.

Parameters

twist the cartesian velocity to multiply with

Returns: this result into a JointVelocities

Definition at line 200 of file Jacobian.cpp.

◆ operator*() [2/5]

JointTorques state_representation::Jacobian::operator* ( const CartesianWrench & wrench ) const

Overload the * operator with a CartesianWrench.

Parameters

wrench the cartesian wrench to multiply with

Returns: this result into a JointTorques

Definition at line 215 of file Jacobian.cpp.

◆ operator*() [3/5]

Eigen::MatrixXd state_representation::Jacobian::operator* ( const Eigen::MatrixXd & matrix ) const

Overload the * operator with an arbitrary matrix.

Parameters

matrix the matrix to multiply with

Returns: the Jacobian matrix multiplied by the matrix in parameter

Definition at line 166 of file Jacobian.cpp.

◆ operator*() [4/5]

Eigen::MatrixXd state_representation::Jacobian::operator* ( const Jacobian & jacobian ) const

Overload the * operator with another Jacobian.

Parameters

jacobian the Jacobian to multiply with

Returns: the current Jacobian multiplied by the one in parameter

Definition at line 177 of file Jacobian.cpp.

◆ operator*() [5/5]

CartesianTwist state_representation::Jacobian::operator* ( const JointVelocities & dq ) const

Overload the * operator with a JointVelocities.

Parameters

dq	the joint velocity to multiply with

Returns: this result into the CartesianTwist of the end effector

Definition at line 185 of file Jacobian.cpp.

◆ operator=()

Jacobian & state_representation::Jacobian::operator= ( const Jacobian & jacobian )

inline

Copy assignment operator that have to be defined to the custom assignment operator.

Parameters

jacobian the Jacobian with value to assign

Returns: reference to the current Jacobian with new values

Definition at line 338 of file Jacobian.hpp.

◆ pseudoinverse()

Jacobian state_representation::Jacobian::pseudoinverse ( ) const

Return the pseudoinverse of the Jacobian matrix.

Returns: the pseudoinverse of the Jacobian

Definition at line 157 of file Jacobian.cpp.

◆ Random() [1/2]

Jacobian state_representation::Jacobian::Random	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names,
		const std::string &	frame,
		const std::string &	reference_frame = `"world"`
	)

static

Constructor for a random Jacobian.

Parameters

robot_name	the name of the associated robot
joint_names	the vector of joint names of the robot
frame	the name of the frame at which the Jacobian is computed
reference_frame	the name of the reference frame in which the Jacobian is expressed (default "world")

Returns: Jacobian with random data values

Definition at line 79 of file Jacobian.cpp.

◆ Random() [2/2]

Jacobian state_representation::Jacobian::Random	(	const std::string &	robot_name,
		unsigned int	nb_joints,
		const std::string &	frame,
		const std::string &	reference_frame = `"world"`
	)

static

Constructor for a random Jacobian.

Parameters

robot_name	the name of the associated robot
nb_joints	the number of joints of the robot
frame	the name of the frame at which the Jacobian is computed
reference_frame	the name of the reference frame in which the Jacobian is expressed (default "world")

Returns: Jacobian with random data values

Definition at line 70 of file Jacobian.cpp.

◆ row()

Eigen::VectorXd state_representation::Jacobian::row ( unsigned int index ) const

inline

Accessor of the row data at given index.

Parameters

index the index of the desired row

Returns: the row vector at index

Definition at line 352 of file Jacobian.hpp.

◆ rows()

unsigned int state_representation::Jacobian::rows ( ) const

inline

Getter of the number of rows attribute.

Returns: the number of rows

Definition at line 344 of file Jacobian.hpp.

◆ set_data()

void state_representation::Jacobian::set_data ( const Eigen::MatrixXd & data )

inlineoverridevirtual

Setter of the data attribute.

Reimplemented from state_representation::State.

Definition at line 396 of file Jacobian.hpp.

◆ set_joint_names() [1/2]

void state_representation::Jacobian::set_joint_names ( const std::vector< std::string > & joint_names )

inline

Setter of the joint_names attribute from a vector of joint names.

Definition at line 375 of file Jacobian.hpp.

◆ set_joint_names() [2/2]

void state_representation::Jacobian::set_joint_names ( unsigned int nb_joints )

inline

Setter of the joint_names attribute from the number of joints.

Definition at line 364 of file Jacobian.hpp.

◆ set_reference_frame()

void state_representation::Jacobian::set_reference_frame ( const CartesianPose & reference_frame )

Setter of the reference_frame attribute from a CartesianPose Update the value of the data matrix accordingly by changing the reference frame of each columns. This means that the computation needs to be compatible, i.e. the previous reference frame should match the name of the new reference frame as input.

Parameters

reference_frame the reference frame as a CartesianPose

Definition at line 133 of file Jacobian.cpp.

◆ solve() [1/2]

JointVelocities state_representation::Jacobian::solve ( const CartesianTwist & twist ) const

Solve the system dX = J*dq to obtain dq which is more efficient than multiplying with the pseudo-inverse.

Parameters

dX	the cartesian velocity to multiply with

Returns: this result into a JointVelocities

Definition at line 241 of file Jacobian.cpp.

◆ solve() [2/2]

Eigen::MatrixXd state_representation::Jacobian::solve ( const Eigen::MatrixXd & matrix ) const

Solve the system X = inv(J)*M to obtain X which is more efficient than multiplying with the pseudo-inverse.

Parameters

matrix the matrix to solve the system with

Returns: result of X = J.solve(M) from Eigen decomposition

Definition at line 230 of file Jacobian.cpp.

◆ transpose()

Jacobian state_representation::Jacobian::transpose ( ) const

Return the transpose of the Jacobian matrix.

Returns: the Jacobian transposed

Definition at line 137 of file Jacobian.cpp.

Friends And Related Function Documentation

◆ operator* [1/2]

Jacobian operator*	(	const CartesianPose &	pose,
		const Jacobian &	jacobian
	)

friend

Overload the * operator with a CartesianPose on left side. This is equivalent to a changing of reference frame of the Jacobian.

Parameters

pose	the CartesianPose to multiply with
jacobian	the Jacobian to be multiplied with the CartesianPose

Returns: the Jacobian expressed in the new reference frame

Definition at line 288 of file Jacobian.cpp.

◆ operator* [2/2]

Eigen::MatrixXd operator*	(	const Eigen::MatrixXd &	matrix,
		const Jacobian &	jacobian
	)

friend

Overload the * operator with an arbitrary matrix on the left side.

Parameters

matrix	the matrix to multiply with
jacobian	the jacobian matrix

Returns: the matrix multiplied by the jacobian matrix

Definition at line 318 of file Jacobian.cpp.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const Jacobian &	jacobian
	)

friend

Overload the ostream operator for printing.

Parameters

os	the ostream to append the string representing the matrix to
jacobian	the Jacobian to print

Returns: the appended ostream

Definition at line 263 of file Jacobian.cpp.

◆ swap

void swap	(	Jacobian &	jacobian1,
		Jacobian &	jacobian2
	)

friend

Swap the values of the two Jacobian.

Parameters

jacobian1	Jacobian to be swapped with 2
jacobian2	Jacobian to be swapped with 1

Definition at line 328 of file Jacobian.hpp.

The documentation for this class was generated from the following files:

/github/workspace/source/state_representation/include/state_representation/space/Jacobian.hpp
/github/workspace/source/state_representation/src/space/Jacobian.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Jacobian() [1/6]

◆ Jacobian() [2/6]

◆ Jacobian() [3/6]

◆ Jacobian() [4/6]

◆ Jacobian() [5/6]

◆ Jacobian() [6/6]

Member Function Documentation

◆ col()

◆ cols()

◆ copy()

◆ data()

◆ get_frame()

◆ get_joint_names()

◆ get_reference_frame()

◆ initialize()

◆ inverse()

◆ is_compatible()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/5]

◆ operator*() [2/5]

◆ operator*() [3/5]

◆ operator*() [4/5]

◆ operator*() [5/5]

◆ operator=()

◆ pseudoinverse()

◆ Random() [1/2]

◆ Random() [2/2]

◆ row()

◆ rows()

◆ set_data()

◆ set_joint_names() [1/2]

◆ set_joint_names() [2/2]

◆ set_reference_frame()

◆ solve() [1/2]

◆ solve() [2/2]

◆ transpose()

Friends And Related Function Documentation

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator<<

◆ swap