Verified Commit 5f900aea authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo/jacobian: remove duplicated functions

parent 2a55357f
......@@ -123,24 +123,6 @@ namespace se3
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6Like> & J);
///
/// \brief Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame or in the local frame (rf = LOCAL) of the joint.
/// \note This jacobian is extracted from data.J. You have to run se3::computeJointJacobians 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] jointId The id of the joint.
/// \param[out] J A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.fill(0.).
///
inline void getJointJacobian(const Model & model,
const Data & data,
const Model::JointIndex jointId,
const ReferenceFrame rf,
Data::Matrix6x & J);
///
/// \brief Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame or in the local frame (rf = LOCAL) of the joint.
/// \note This jacobian is extracted from data.J. You have to run se3::computeJointJacobians before calling it.
......@@ -320,26 +302,6 @@ namespace se3
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6Like> & dJ);
///
/// \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.
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] jointId The id of the joint.
/// \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.).
///
inline void getJointJacobianTimeVariation(const Model & model,
const Data & data,
const Model::JointIndex jointId,
const ReferenceFrame rf,
Data::Matrix6x & dJ);
///
/// \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.
......
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