robotoc::SE3JacobianInverse Class Reference

A class that computes the inverse of the Jacobian of SE(3). More...

#include <se3_jacobian_inverse.hpp>

Public Member Functions
	SE3JacobianInverse ()
	Default constructor. More...
	~SE3JacobianInverse ()=default
	Default destructor. More...
	SE3JacobianInverse (const SE3JacobianInverse &)=default
	Default copy constructor. More...
SE3JacobianInverse &	operator= (const SE3JacobianInverse &)=default
	Default copy assign operator. More...
	SE3JacobianInverse (SE3JacobianInverse &&) noexcept=default
	Default move constructor. More...
SE3JacobianInverse &	operator= (SE3JacobianInverse &&) noexcept=default
	Default move assign operator. More...
template<typename MatrixType1 , typename MatrixType2 >
void	compute (const Eigen::MatrixBase< MatrixType1 > &Jac, const Eigen::MatrixBase< MatrixType2 > &Jac_inv)
	Computes the inverse of the Jacobian of SE3. More...

Detailed Description

A class that computes the inverse of the Jacobian of SE(3).

Constructor & Destructor Documentation

SE3JacobianInverse() [1/3]

robotoc::SE3JacobianInverse::SE3JacobianInverse ( )

inline

Default constructor.

~SE3JacobianInverse()

robotoc::SE3JacobianInverse::~SE3JacobianInverse ( )

default

Default destructor.

SE3JacobianInverse() [2/3]

robotoc::SE3JacobianInverse::SE3JacobianInverse ( const SE3JacobianInverse &  )

default

Default copy constructor.

SE3JacobianInverse() [3/3]

robotoc::SE3JacobianInverse::SE3JacobianInverse ( SE3JacobianInverse &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

compute()

template<typename MatrixType1 , typename MatrixType2 >

void robotoc::SE3JacobianInverse::compute ( const Eigen::MatrixBase< MatrixType1 > &  Jac, const Eigen::MatrixBase< MatrixType2 > &  Jac_inv  )

inline

Computes the inverse of the Jacobian of SE3.

Parameters

[in]	Jac	The Jacobian of SE3. Size must be larger than 6 x 6. The Jacobian is assumed to be stored in the 6 x 6 top left corner.
[out]	Jac_inv	The inverse of the Jacobian os SE3. Size must be larger than 6 x 6. Result is stored in the 6 x 6 top left corner.

operator=() [1/2]

SE3JacobianInverse & robotoc::SE3JacobianInverse::operator= ( const SE3JacobianInverse &  )

default

Default copy assign operator.

operator=() [2/2]

SE3JacobianInverse & robotoc::SE3JacobianInverse::operator= ( SE3JacobianInverse &&  )

defaultnoexcept

Default move assign operator.

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

• /github/workspace/include/robotoc/robot/se3_jacobian_inverse.hpp
• /github/workspace/include/robotoc/robot/se3_jacobian_inverse.hxx