se3_jacobian_inverse.hpp

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#ifndef ROBOTOC_SE3_JACOBIAN_INVERSE_HPP_
#define ROBOTOC_SE3_JACOBIAN_INVERSE_HPP_
 
#include "Eigen/Core"
 
 
namespace robotoc {
 
class SE3JacobianInverse {
public:
  SE3JacobianInverse();
 
  ~SE3JacobianInverse() = default;
 
  SE3JacobianInverse(const SE3JacobianInverse&) = default;
 
  SE3JacobianInverse& operator=(const SE3JacobianInverse&) = default;
 
  SE3JacobianInverse(SE3JacobianInverse&&) noexcept = default;
 
  SE3JacobianInverse& operator=(SE3JacobianInverse&&) noexcept = default;
 
  template <typename MatrixType1, typename MatrixType2>
  void compute(const Eigen::MatrixBase<MatrixType1>& Jac,
               const Eigen::MatrixBase<MatrixType2>& Jac_inv);
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
private:
  Eigen::Matrix3d mat_3d_tmp_;
 
};
 
} // namespace robotoc
 
#include "robotoc/robot/se3_jacobian_inverse.hxx"
 
#endif // ROBOTOC_SE3_JACOBIAN_INVERSE_HPP_