Function Karana::Dynamics::Algorithms::jacobianGenerator

Function Karana::Dynamics::Algorithms::jacobianGenerator#

Function Documentation#

kc::ks_ptr<kd::MultiJacobianGenerator> Karana::Dynamics::Algorithms::jacobianGenerator(const std::vector<kc::ks_ptr<kf::FrameToFrame>> &f2fs, kc::ks_ptr<CoordData> cd)#

Return a Jacobian generator for the subtree.

Create a Jacobian generator object for the specified SubGraph and its coordinates and the list source/target frame pairs in the list of frame2frames. Note that the resulting jacobian and pose gradient matrices will exclude columns for any coordinates frozen in the coord data of the subtree.

See the Kinematics Algorithms section for more information.

Parameters:

  • f2fs – list of FrameToFrames to compute the Jacobian for

  • cd – the CoordData that specify the columns in the computed Jacobian

Returns:

The Jacobian generator instance

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