Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.limbsolver

Class ApproximateJacobianFiniteDifferences

java.lang.Object

com.marginallyclever.ro3.node.nodes.limbsolver.ApproximateJacobian

com.marginallyclever.ro3.node.nodes.limbsolver.ApproximateJacobianFiniteDifferences

public class ApproximateJacobianFiniteDifferences
extends ApproximateJacobian

Calculates the approximate jacobian for a robot arm using finite differences.

Field Summary

Fields

Modifier and Type	Field	Description
double	ANGLE_STEP_SIZE_DEGREES

Constructor Summary

Constructors

Constructor	Description
ApproximateJacobianFiniteDifferences(Limb limb)

Method Summary

Methods inherited from class com.marginallyclever.ro3.node.nodes.limbsolver.ApproximateJacobian

getCartesianFromJoint, getCoriolisTerm, getJacobian, getJointFromCartesian, getTimeDerivative, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

ANGLE_STEP_SIZE_DEGREES

public double ANGLE_STEP_SIZE_DEGREES

Constructor Details

ApproximateJacobianFiniteDifferences

public ApproximateJacobianFiniteDifferences(Limb limb)