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.

	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 and reference frame provided.

	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 and reference frame provided.

	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.

	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, Jacobian matrix and reference frame provided.

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

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

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

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

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

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

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

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

const std::string &	get_reference_frame () const
	Getter of the reference frame attribute.

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

void	set_joint_names (unsigned int nb_joints)
	Setter of the joint names attribute from the number of joints.

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

void	set_frame (const std::string &frame)
	Setter of the frame.

void	set_reference_frame (const std::string &reference_frame)
	Setter of the reference frame.

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

void	set_zero ()
	Set the Jacobian matrix to a zero value.

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

void	reset () override
	Reset the object to a post-construction state.

Eigen::MatrixXd	inverse () const
	Return the inverse of the Jacobian matrix.

Eigen::MatrixXd	inverse (const Eigen::MatrixXd &matrix) const
	Solve the system X = inv(J) * M to obtain X.

JointVelocities	inverse (const CartesianTwist &twist) const
	Transform the given Cartesian twist to joint space.

bool	is_incompatible (const State &state) const override
	Check if the Jacobian is incompatible for operations with the state given as argument.

Eigen::MatrixXd	pseudoinverse () const
	Return the pseudoinverse of the Jacobian matrix.

Eigen::MatrixXd	pseudoinverse (const Eigen::MatrixXd &matrix) const
	Multiply the given matrix by the pseudoinverse of the Jacobian matrix.

JointVelocities	pseudoinverse (const CartesianTwist &twist) const
	Transform a Cartesian twist to joint space by pre-multiplying the Jacobian pseudoinverse.

Eigen::MatrixXd	transpose () const
	Return the transpose of the Jacobian matrix.

JointTorques	transpose (const CartesianWrench &wrench) const
	Transform a Cartesian wrench to joint space by pre-multiplying the Jacobian transpose.

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

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

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

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

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

	State (const std::string &name)
	Constructor with name specification.

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

virtual	~State ()=default
	Virtual destructor.

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

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

const std::string &	get_name () const
	Getter of the name attribute.

bool	is_empty () const
	Getter of the empty attribute.

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

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

void	reset_timestamp ()
	Reset the timestamp attribute to now.

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

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

double	get_age () const
	Get the age of the state, i.e. the time since the last modification.

bool	is_deprecated (double time_delay) const
	Check if the state is deprecated given a certain time delay.

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

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

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.

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.

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

Jacobian	operator* (const Eigen::Matrix< double, 6, 6 > &matrix, const Jacobian &jacobian)
	Overload the * operator with a 6x6 matrix on the left side.

Jacobian	operator* (const CartesianPose &pose, const Jacobian &jacobian)
	Overload the * operator with a Cartesian pose on the left side.

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

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

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

void	assert_not_empty () const
	Throw an exception if the state is empty.

virtual std::string	to_string () const
	Convert the state to its string representation.

Detailed Description

Class to define a robot Jacobian matrix.

Definition at line 21 of file Jacobian.hpp.

Constructor & Destructor Documentation

◆ Jacobian() [1/6]

state_representation::Jacobian::Jacobian ( )

Empty constructor for a Jacobian.

Definition at line 19 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 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 is "world")

Definition at line 23 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 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 is "world")

Definition at line 35 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 is "world")

Definition at line 42 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, 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 is "world")

Definition at line 51 of file Jacobian.cpp.

◆ Jacobian() [6/6]

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

Copy constructor of a Jacobian.

Definition at line 58 of file Jacobian.cpp.

Member Function Documentation

◆ col()

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

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 97 of file Jacobian.cpp.

◆ cols()

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

Getter of the number of columns attribute.

Definition at line 93 of file Jacobian.cpp.

◆ copy()

Jacobian state_representation::Jacobian::copy ( ) const

Return a copy of the Jacobian.

Definition at line 162 of file Jacobian.cpp.

◆ data()

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

Getter of the data attribute.

Definition at line 113 of file Jacobian.cpp.

◆ get_frame()

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

Getter of the frame attribute.

Definition at line 105 of file Jacobian.cpp.

◆ get_joint_names()

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

Getter of the joint names attribute.

Definition at line 101 of file Jacobian.cpp.

◆ get_reference_frame()

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

Getter of the reference frame attribute.

Definition at line 109 of file Jacobian.cpp.

◆ inverse() [1/3]

Eigen::MatrixXd 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 172 of file Jacobian.cpp.

◆ inverse() [2/3]

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

Transform the given Cartesian twist to joint space.

This uses QR decomposition to solve for the joint velocities, which is more efficient than calculating and multiplying by the Jacobian inverse independently.

Parameters

twist The Cartesian twist to be transformed to joint space

Returns: The resulting joint velocities from the product inv(J) * twist

Definition at line 185 of file Jacobian.cpp.

◆ inverse() [3/3]

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

Solve the system X = inv(J) * M to obtain X.

This uses QR decomposition to solve for X, which is more efficient than calculating and multiplying by the Jacobian inverse independently.

Parameters

matrix The matrix to solve the system with

Returns: The result of the product inv(J) * M

Definition at line 180 of file Jacobian.cpp.

◆ is_incompatible()

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

overridevirtual

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

Parameters

state The state to check compatibility with

Reimplemented from state_representation::State.

Definition at line 192 of file Jacobian.cpp.

◆ operator()() [1/2]

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

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

Parameters

row	The index of the row
column	The index of the column

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

Definition at line 310 of file Jacobian.cpp.

◆ operator()() [2/2]

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

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

Parameters

row	The index of the row
column	The index of the column

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

Definition at line 322 of file Jacobian.cpp.

◆ operator*() [1/2]

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 272 of file Jacobian.cpp.

◆ operator*() [2/2]

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

Overload the * operator with a JointVelocities.

Parameters

dq	The joint velocities to multiply with

Returns: The corresponding Cartesian twist of the Jacobian frame

Definition at line 283 of file Jacobian.cpp.

◆ operator=()

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

Copy assignment operator that has 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 79 of file Jacobian.cpp.

◆ pseudoinverse() [1/3]

Eigen::MatrixXd state_representation::Jacobian::pseudoinverse ( ) const

Return the pseudoinverse of the Jacobian matrix.

Returns: The pseudoinverse of the Jacobian

Definition at line 245 of file Jacobian.cpp.

◆ pseudoinverse() [2/3]

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

Transform a Cartesian twist to joint space by pre-multiplying the Jacobian pseudoinverse.

Parameters

twist The Cartesian twist to be transformed to joint space

Returns: The corresponding joint velocities

Definition at line 254 of file Jacobian.cpp.

◆ pseudoinverse() [3/3]

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

Multiply the given matrix by the pseudoinverse of the Jacobian matrix.

Parameters

matrix The matrix to be multiplied with the Jacobian

Returns: The result of the matrix multiplication

Definition at line 249 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 is "world")

Returns: Jacobian with random data values

Definition at line 72 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 is "world")

Returns: Jacobian with random data values

Definition at line 66 of file Jacobian.cpp.

◆ reset()

void state_representation::Jacobian::reset ( )

overridevirtual

Reset the object to a post-construction state.

Reimplemented from state_representation::State.

Definition at line 167 of file Jacobian.cpp.

◆ row()

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

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 89 of file Jacobian.cpp.

◆ rows()

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

Getter of the number of rows attribute.

Definition at line 85 of file Jacobian.cpp.

◆ set_data()

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

overridevirtual

Setter of the data attribute.

Reimplemented from state_representation::State.

Definition at line 150 of file Jacobian.cpp.

◆ set_frame()

void state_representation::Jacobian::set_frame ( const std::string & frame )

Setter of the frame.

Definition at line 140 of file Jacobian.cpp.

◆ set_joint_names() [1/2]

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

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

Definition at line 130 of file Jacobian.cpp.

◆ set_joint_names() [2/2]

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

Setter of the joint names attribute from the number of joints.

Definition at line 118 of file Jacobian.cpp.

◆ set_reference_frame()

void state_representation::Jacobian::set_reference_frame ( const std::string & reference_frame )

Setter of the reference frame.

Definition at line 145 of file Jacobian.cpp.

◆ set_zero()

void state_representation::Jacobian::set_zero ( )

Set the Jacobian matrix to a zero value.

Definition at line 156 of file Jacobian.cpp.

◆ transpose() [1/2]

Eigen::MatrixXd state_representation::Jacobian::transpose ( ) const

Return the transpose of the Jacobian matrix.

Returns: The transposed Jacobian matrix

Definition at line 261 of file Jacobian.cpp.

◆ transpose() [2/2]

JointTorques state_representation::Jacobian::transpose ( const CartesianWrench & wrench ) const

Transform a Cartesian wrench to joint space by pre-multiplying the Jacobian transpose.

Parameters

wrench The Cartesian wrench to be transformed to joint space

Returns: The corresponding joint torques

Definition at line 265 of file Jacobian.cpp.

Friends And Related Symbol Documentation

◆ operator* [1/2]

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

friend

Overload the * operator with a Cartesian pose on the left side.

This operation is equivalent to a change of reference frame of the Jacobian

Parameters

pose	The Cartesian pose to multiply with
jacobian	The Jacobian to be multiplied with the Cartesian pose

Returns: The Jacobian expressed in the new reference frame

Definition at line 291 of file Jacobian.cpp.

◆ operator* [2/2]

Jacobian operator*	(	const Eigen::Matrix< double, 6, 6 > &	matrix,
		const Jacobian &	jacobian
	)

friend

Overload the * operator with a 6x6 matrix on the left side.

Parameters

matrix	The matrix to multiply with
jacobian	The Jacobian

Returns: The Jacobian transformed by the matrix

Definition at line 277 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 Jacobian to
jacobian	The Jacobian to print

Returns: The appended ostream

Definition at line 333 of file Jacobian.cpp.

◆ swap

void swap	(	Jacobian &	jacobian1,
		Jacobian &	jacobian2
	)

friend

Swap the values of the two Jacobians.

Parameters

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

Definition at line 333 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()

◆ inverse() [1/3]

◆ inverse() [2/3]

◆ inverse() [3/3]

◆ is_incompatible()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator=()

◆ pseudoinverse() [1/3]

◆ pseudoinverse() [2/3]

◆ pseudoinverse() [3/3]

◆ Random() [1/2]

◆ Random() [2/2]

◆ reset()

◆ row()

◆ rows()

◆ set_data()

◆ set_frame()

◆ set_joint_names() [1/2]

◆ set_joint_names() [2/2]

◆ set_reference_frame()

◆ set_zero()

◆ transpose() [1/2]

◆ transpose() [2/2]

Friends And Related Symbol Documentation

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator<<

◆ swap