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Fix DQ_SerialManipuladorDenso class #51

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Merged
merged 2 commits into from
Nov 18, 2022
Merged

Fix DQ_SerialManipuladorDenso class #51

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ed1ccce
[DQ_SerialManipulatorDenso.h, .cpp] Added the pose_jacobian_derivativ…
juanjqo Nov 18, 2022
b35461e
[DQ_SerialManipulatorDenso.h, .cpp] Added the pose_jacobian_derivativ…
juanjqo Nov 18, 2022
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2 changes: 2 additions & 0 deletions include/dqrobotics/robot_modeling/DQ_SerialManipulatorDenso.h
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Expand Up @@ -46,9 +46,11 @@ class DQ_SerialManipulatorDenso: public DQ_SerialManipulator
DQ_SerialManipulatorDenso(const MatrixXd& denso_matrix);

using DQ_SerialManipulator::raw_pose_jacobian;
using DQ_SerialManipulator::raw_pose_jacobian_derivative;
using DQ_SerialManipulator::raw_fkm;

MatrixXd raw_pose_jacobian(const VectorXd& q_vec, const int& to_ith_link) const override;
MatrixXd raw_pose_jacobian_derivative(const VectorXd& q, const VectorXd& q_dot, const int& to_ith_link) const override;
DQ raw_fkm(const VectorXd &q_vec, const int &to_ith_link) const override;
};

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21 changes: 21 additions & 0 deletions src/robot_modeling/DQ_SerialManipulatorDenso.cpp
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Expand Up @@ -93,5 +93,26 @@ MatrixXd DQ_SerialManipulatorDenso::raw_pose_jacobian(const VectorXd &q_vec, con
return J;
}

/**
* @brief This method returns the first to_ith_link columns of the time derivative of the pose Jacobian.
* The base displacement and the effector are not taken into account.
* @param q. VectorXd representing the robot joint configuration.
* @param q_dot. VectorXd representing the robot joint velocities.
* @param to_ith_link. The index to a link. This defines until which link the pose_jacobian_derivative
* will be calculated.
* @returns a MatrixXd representing the first to_ith_link columns of the desired Jacobian derivative.
*
*/
MatrixXd DQ_SerialManipulatorDenso::raw_pose_jacobian_derivative(const VectorXd &q, const VectorXd &q_dot, const int &to_ith_link) const
{
_check_q_vec(q);
_check_q_vec(q_dot);
_check_to_ith_link(to_ith_link);

throw std::runtime_error(std::string("pose_jacobian_derivative is not implemented yet."));
return MatrixXd::Zero(1,1);
}



}