bp::args("Model, the model of the kinematic tree",
"Data, the data associated to the model where the results are stored",
"Frame ID, the index of the frame.",
"Reference frame rf (either ReferenceFrame.LOCAL or ReferenceFrame.WORLD)"),
"Returns the Jacobian time variation of a specific frame (specified by Frame ID) expressed either in the world or the local frame."
"You have to call computeJointJacobiansTimeVariation and framesKinematics first."
"If rf is set to LOCAL, it returns the jacobian time variation associated to the frame index. Otherwise, it returns the jacobian time variation of the frame coinciding with the world frame.");
"Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame.\n"
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@@ -94,7 +94,7 @@ namespace se3
"update_kinematics (true = update the value of the total jacobian)"),
"Computes the jacobian of a given given joint according to the given input configuration."
"If rf is set to LOCAL, it returns the jacobian associated to the joint frame. Otherwise, it returns the jacobian of the frame coinciding with the world frame.");
bp::def("getJointJacobian",get_jacobian_proxy,
bp::args("Model, the model of the kinematic tree",
"Data, the data associated to the model where the results are stored",
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@@ -116,7 +116,7 @@ namespace se3
"Data, the data associated to the model where the results are stored",
"Joint ID, the index of the joint.",
"Reference frame rf (either ReferenceFrame.LOCAL or ReferenceFrame.WORLD)"),
"Computes the Jacobian time variation of a specific joint frame expressed either in the world frame or in the local frame of the joint."
"Computes the Jacobian time variation of a specific joint expressed either in the world frame or in the local frame of the joint."
"You have to call computeJointJacobiansTimeVariation first."
"If rf is set to LOCAL, it returns the jacobian time variation associated to the joint frame. Otherwise, it returns the jacobian time variation of the frame coinciding with the world frame.");
* @brief Returns the jacobian of the frame expresssed the LOCAL frame coordinate system.
* You must first call se3::computeJointJacobians followed by se3::framesForwardKinematics to update placement values in data structure.
\deprecated This function is now deprecated. Please call se3::getFrameJacobian<ReferenceFrame> for same functionality
*
* @param[in] model The kinematic model
* @param[in] data Data associated to model
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@@ -82,11 +83,30 @@ namespace se3
*
* @warning The function se3::computeJointJacobians and se3::framesForwardKinematics should have been called first.
*/
PINOCCHIO_DEPRECATED
inlinevoidgetFrameJacobian(constModel&model,
constData&data,
constModel::FrameIndexframe_id,
Data::Matrix6x&J);
///
/// \brief Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL).
/// \note This jacobian is extracted from data.dJ. You have to run se3::computeJacobiansTimeVariation before calling it.
///
/// \tparam rf Reference frame in which the Jacobian is expressed.
///
/// \param[in] localFrame Expressed the Jacobian in the local frame or world frame coordinates system.
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] frameId The index of the frame.
/// \param[out] dJ A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).
/// \brief Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint.
/// \note This jacobian is extracted from data.dJ. You have to run se3::computeJacobiansTimeVariation before calling it.
///
/// \deprecated This function is now deprecated. Please refer now to se3::getJointJacobianTimeVariation for similar function with updated name.
///
/// \tparam rf Reference frame in which the Jacobian is expressed.
///
/// \param[in] localFrame Expressed the Jacobian in the local frame or world frame coordinates system.
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@@ -267,6 +265,7 @@ namespace se3
///
/// \brief Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint.
/// \note This jacobian is extracted from data.dJ. You have to run se3::computeJointJacobiansTimeVariation before calling it.
/// \deprecated This function is now deprecated. Please refer now to se3::getJointJacobianTimeVariation for similar function with updated name.
///
/// \tparam rf Reference frame in which the Jacobian is expressed.