Transform1DOF Class Reference

Abstract class model an arbitrary 1 DOF joint.

#include <vp1DOFJoint.h>

Inherited by vpHelixJoint::HelixTransform.

List of all members.

Public Member Functions
virtual SE3	GetTransform (const scalar &)=0
virtual se3	GetJacobian (const scalar &J)
virtual se3	GetHessian (const scalar &H)

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Member Function Documentation

virtual SE3 Transform1DOF::GetTransform

(

const scalar &

)

[pure virtual]

Transform function

VP_INLINE se3 Transform1DOF::GetJacobian

(

const scalar &

J

)

[virtual]

Jacobian function

The Jacobain is defined as If the Jacobian function is not overrided, VP will evaluate the Jacobian which is based on a numerical differentiation. The numerical differentiation requires two times of evaluating the transform function in general. Also another potential problem of the numerical differentiation is that it may be very sensitive to the epsilon value. The default epsilon used for numerical differentiation is set as m_rEPS = 1E-4.

VP_INLINE se3 Transform1DOF::GetHessian

(

const scalar &

H

)

[virtual]

Hessian function

The Hessian is defined as

if the Hessian function is not overrided , VP will evalute the Hessian based on a numerical differentiation.