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[JointPath] add local_p arg for calcJacobian #127

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merged 2 commits into from
Oct 16, 2017
Merged

[JointPath] add local_p arg for calcJacobian #127

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4a96fb6
add local_p arg for calcJacobian
ishiguroJSK Oct 10, 2017
731441a
fix local_p coordinate
ishiguroJSK Oct 11, 2017
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4 changes: 2 additions & 2 deletions hrplib/hrpModel/JointPath.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ void JointPath::onJointPathUpdated()
}


void JointPath::calcJacobian(dmatrix& out_J) const
void JointPath::calcJacobian(dmatrix& out_J, const Vector3& local_p) const
{
const int n = joints.size();
out_J.resize(6, n);
Expand All @@ -143,7 +143,7 @@ void JointPath::calcJacobian(dmatrix& out_J) const
case Link::ROTATIONAL_JOINT:
{
Vector3 omega(link->R * link->a);
Vector3 arm(targetLink->p - link->p);
Vector3 arm(targetLink->p + targetLink->R * local_p - link->p);
if(!isJointDownward(i)){
omega *= -1.0;
}
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2 changes: 1 addition & 1 deletion hrplib/hrpModel/JointPath.h
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Expand Up @@ -63,7 +63,7 @@ namespace hrp {
linkPath.calcForwardKinematics(calcVelocity, calcAcceleration);
}

void calcJacobian(dmatrix& out_J) const;
void calcJacobian(dmatrix& out_J, const Vector3& local_p = Vector3::Zero()) const;

inline dmatrix Jacobian() const {
dmatrix J;
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