Module com.marginallyclever.robotoverlord

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

Class ApproximateJacobianScrewTheory

java.lang.Object

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

com.marginallyclever.ro3.node.nodes.limbsolver.ApproximateJacobianScrewTheory

public class ApproximateJacobianScrewTheory
extends ApproximateJacobian

Given the current pose of the robot, find the approximate jacobian, which describe the relationship between joint velocity and cartesian velocity. This version uses screw theory.

Constructor Summary

Constructors

Constructor	Description
ApproximateJacobianScrewTheory(Limb arm)	Given the current pose of the robot, find the approximate jacobian.

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

Constructor Details

ApproximateJacobianScrewTheory

public ApproximateJacobianScrewTheory(Limb arm)

Given the current pose of the robot, find the approximate jacobian.

Parameters:

arm - the robot to analyze.