KDL::BinaryOp< OpMult, FrameVel, FrameVel > Class Template Reference

#include <jacobianframevel.hpp>

List of all members.

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)

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Detailed Description

template<>
class KDL::BinaryOp< OpMult, FrameVel, FrameVel >

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.

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Member Typedef Documentation

typedef TwistVel KDL::BinaryOp< OpMult, FrameVel, FrameVel >::derivType

Definition at line 148 of file jacobianframevel.hpp.

typedef FrameVel KDL::BinaryOp< OpMult, FrameVel, FrameVel >::exprType

Definition at line 146 of file jacobianframevel.hpp.

typedef Frame KDL::BinaryOp< OpMult, FrameVel, FrameVel >::valueType

Definition at line 147 of file jacobianframevel.hpp.

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Member Function Documentation

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.

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The documentation for this class was generated from the following file:

• jacobianframevel.hpp