- <init>
Creates the Jacobian for the kinematic chain described by the given joints.
These joints have to be
- compute
Computes the Jacobian.
- getJointsInOrder
- getJacobianFrame
- getJacobianMatrix
Returns a reference to the underlying DenseMatrix64F object. Does not recompute
the Jacobian.
- getBaseFrame
Returns the body fixed frame of the base RigidBody of this Jacobian. The base is
the predecessor of
- getEndEffectorFrame
Returns the body fixed frame of the end-effector RigidBody of this Jacobian. The
end-effector is the
- getNumberOfColumns
- computeJointTorques
Computes and packs the joint torque vector that corresponds to the given wrench.
- changeFrame
Changes the frame in which the resulting twist of the end effector with respect
to the base frame wi
- checkJointOrder
- getBase
Returns the base RigidBody of this Jacobian. The base is the predecessor of the
first joint that thi