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#include <jacobianframevel.hpp>
Public Types | |
typedef TwistVel | derivType |
typedef FrameVel | exprType |
typedef Frame | valueType |
Static Public Member Functions | |
static INLINE2 derivType | derivCV (const Frame &_a, const Frame &_b, const TwistVel &db) |
static INLINE2 derivType | derivVC (const Frame &_a, const TwistVel &da, const Frame &_b) |
static INLINE2 derivType | derivVV (const Frame &_a, const TwistVel &da, const Frame &_b, const TwistVel &db) |
static INLINE2 Frame | value (const Frame &a, const Frame &b) |
When designing this class, I realized some inconsistency between the routines fo transforming a twist (Frame::operator*(const Twist&) and these classes : Frame1 * Twist2 = velocity component of ( RVFrame2 * RVFrame1) (mind the order of the arguments ....) The redefinition as Twist2 * Frame1 would make things more consistent, but would break a LOT OF code and naming conventions...
Definition at line 144 of file jacobianframevel.hpp.
Definition at line 148 of file jacobianframevel.hpp.
Definition at line 146 of file jacobianframevel.hpp.
Definition at line 147 of file jacobianframevel.hpp.
static INLINE2 derivType KDL::BinaryOp< OpMult, FrameVel, FrameVel >::derivCV | ( | const Frame & | _a, | |
const Frame & | _b, | |||
const TwistVel & | db | |||
) | [inline, static] |
Definition at line 160 of file jacobianframevel.hpp.
static INLINE2 derivType KDL::BinaryOp< OpMult, FrameVel, FrameVel >::derivVC | ( | const Frame & | _a, | |
const TwistVel & | da, | |||
const Frame & | _b | |||
) | [inline, static] |
Definition at line 168 of file jacobianframevel.hpp.
static INLINE2 derivType KDL::BinaryOp< OpMult, FrameVel, FrameVel >::derivVV | ( | const Frame & | _a, | |
const TwistVel & | da, | |||
const Frame & | _b, | |||
const TwistVel & | db | |||
) | [inline, static] |
Definition at line 152 of file jacobianframevel.hpp.
static INLINE2 Frame KDL::BinaryOp< OpMult, FrameVel, FrameVel >::value | ( | const Frame & | a, | |
const Frame & | b | |||
) | [inline, static] |
Definition at line 149 of file jacobianframevel.hpp.