/home/slemaign/softs-local/BioMove3D-git/p3d/p3d_jacobian.c File Reference

jacobian matrix More...

#include "Util-pkg.h"
#include "P3d-pkg.h"

Functions
void	p3d_jacInitialization (p3d_rob *rob)
	initialization of the pre-jacobian matrix
void	p3d_jacDelete (p3d_rob *rob)
	destruction of the pre-jacobian matrix
int	p3d_jacUpdatePosition (pp3d_rob robotPt)
	update the position of the robot and its prejacobian matrix
int	p3d_jacSetAndUpdatePosition (p3d_rob *robotPt, configPt q)
	set and update the position of the robot and its prejacobian matrix
void	p3d_jacUpdateJoint (p3d_jnt *j)
	update position and prejacobien of a joint and its children
void	p3d_jacMult (p3d_vector3 P, p3d_jnt *jnt, configPt G, p3d_vector3 F)
	jacobian multiplied by a vector (configPt)
void	p3d_jacTransposeMult (p3d_vector3 P, p3d_jnt *jnt, p3d_vector3 F, configPt G)
	jacobian transpose multiplied by a vector (3x3)
int	p3d_jacPseudoInvMult (p3d_vector3 P, p3d_jnt *jnt, p3d_vector3 F, configPt G)
	jacobian pseudoinverse multiplied by a vector (3x1)
void	jac_rot (p3d_matrix4 M, p3d_vector3 p, double t)
	Jacobienne d'une Matrice de rotation d'angle t autour de l'axe p.
void	jac_rot_trans4_rx (p3d_matrix4 M, double rx, double ry, double rz)
	derivate along rx rotation translation matrix calculated by rot_trans4()
void	jac_rot_trans4_ry (p3d_matrix4 M, double rx, double ry, double rz)
	derivate along ry rotation translation matrix calculated by rot_trans4()
void	jac_rot_trans4_rz (p3d_matrix4 M, double rx, double ry, double rz)
	derivate along rz rotation translation matrix calculated by rot_trans4()

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Detailed Description

jacobian matrix

Author:

Etienne Ferre

Date:

may 2001

functions to calculate jacobian matrix

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Function Documentation

void jac_rot_trans4_rx	(	p3d_matrix4	M,
		double	rx,
		double	ry,
		double	rz
	)

derivate along rx rotation translation matrix calculated by rot_trans4()

see rot_trans4() documentation for parameters description

See also:

jac_rot_trans4_ry(),jac_rot_trans4_rz()

void jac_rot_trans4_ry	(	p3d_matrix4	M,
		double	rx,
		double	ry,
		double	rz
	)

derivate along ry rotation translation matrix calculated by rot_trans4()

see rot_trans4() documentation for parameters description

See also:

jac_rot_trans4_rx(),jac_rot_trans4_rz()

void jac_rot_trans4_rz	(	p3d_matrix4	M,
		double	rx,
		double	ry,
		double	rz
	)

derivate along rz rotation translation matrix calculated by rot_trans4()

see rot_trans4() documentation for parameters description

See also:

jac_rot_trans4_rx(),jac_rot_trans4_ry()

void p3d_jacDelete

(

p3d_rob *

rob

)

destruction of the pre-jacobian matrix

Parameters:

rob

robot

void p3d_jacInitialization

(

p3d_rob *

rob

)

initialization of the pre-jacobian matrix

Parameters:

rob

robot

void p3d_jacMult	(	p3d_vector3	P,
		p3d_jnt *	jnt,
		configPt	G,
		p3d_vector3	F
	)

jacobian multiplied by a vector (configPt)

Parameters:

P	the point (vector 3x1) where the jacobian is calculated
jnt	the joint where this point is attached
G	configuration vector entry

Return values:

F	3x1 vector : F = J x G

int p3d_jacPseudoInvMult	(	p3d_vector3	P,
		p3d_jnt *	jnt,
		p3d_vector3	F,
		configPt	G
	)

jacobian pseudoinverse multiplied by a vector (3x1)

Parameters:

P	the point (vector 3x1) where the jacobian is calculated
jnt	the joint where this point is attached
F	3x1 vector entry

Return values:

G	configuration vector G = Jt x F

Returns:

-1 if pseudoinverse doesn't exist else 0

int p3d_jacSetAndUpdatePosition	(	p3d_rob *	robotPt,
		configPt	q
	)

set and update the position of the robot and its prejacobian matrix

Parameters:

robotPt	robot
q	new configuration

Note:

angles in radians

void p3d_jacTransposeMult	(	p3d_vector3	P,
		p3d_jnt *	jnt,
		p3d_vector3	F,
		configPt	G
	)

jacobian transpose multiplied by a vector (3x3)

Parameters:

P	the point (vector 3x1) where the jacobian is calculated
jnt	the joint where this point is attached
F	3x1 vector entry

Return values:

G	configuration vector G = Jt x F

void p3d_jacUpdateJoint

(

p3d_jnt *

j

)

update position and prejacobien of a joint and its children

Parameters:

j

joint

Note:

angles in radians

int p3d_jacUpdatePosition

(

pp3d_rob

robotPt

)

update the position of the robot and its prejacobian matrix

Parameters:

robotPt

robot