represents both translational and rotational velocities. More...

#include <frames.hpp>

Public Member Functions
double &	operator() (int i)
	index-based access to components, first vel(0..2), then rot(3..5)
double	operator() (int i) const
Twist &	operator+= (const Twist &arg)
Twist &	operator-= (const Twist &arg)
double	operator[] (int index) const
double &	operator[] (int index)
Twist	RefPoint (const Vector &v_base_AB) const
void	ReverseSign ()
	Reverses the sign of the twist.
	Twist ()
	The default constructor initialises to Zero via the constructor of Vector.
	Twist (const Vector &_vel, const Vector &_rot)
Static Public Member Functions
static Twist	Zero ()
Public Attributes
Vector	rot
	The rotational velocity of that point.
Vector	vel
	The velocity of that point.
Friends
double	dot (const Twist &lhs, const Wrench &rhs)
double	dot (const Wrench &rhs, const Twist &lhs)
bool	Equal (const Twist &a, const Twist &b, double eps=epsilon)
class	Frame
bool	operator!= (const Twist &a, const Twist &b)
	The literal inequality operator!=().
Twist	operator* (const Twist &lhs, double rhs)
Twist	operator* (double lhs, const Twist &rhs)
Twist	operator* (const Twist &lhs, const Twist &rhs)
	Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.
Wrench	operator* (const Twist &lhs, const Wrench &rhs)
	Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.
Twist	operator+ (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &arg)
Twist	operator/ (const Twist &lhs, double rhs)
bool	operator== (const Twist &a, const Twist &b)
	The literal equality operator==(), also identical.
class	Rotation
void	SetToZero (Twist &v)

Detailed Description

represents both translational and rotational velocities.

This class represents a twist. A twist is the combination of translational velocity and rotational velocity applied at one point.

Definition at line 711 of file frames.hpp.

Constructor & Destructor Documentation

KDL::Twist::Twist ( ) [inline]

The default constructor initialises to Zero via the constructor of Vector.

Definition at line 718 of file frames.hpp.

KDL::Twist::Twist	(	const Vector &	_vel,
		const Vector &	_rot
	)		`[inline]`

Definition at line 720 of file frames.hpp.

Member Function Documentation

double& KDL::Twist::operator() ( int i ) [inline]

index-based access to components, first vel(0..2), then rot(3..5)

double KDL::Twist::operator() ( int i ) const [inline]

index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist

Twist& KDL::Twist::operator+= ( const Twist & arg ) [inline]

Twist& KDL::Twist::operator-= ( const Twist & arg ) [inline]

double KDL::Twist::operator[] ( int index ) const [inline]

Definition at line 731 of file frames.hpp.

double& KDL::Twist::operator[] ( int index ) [inline]

Definition at line 736 of file frames.hpp.

Twist KDL::Twist::RefPoint ( const Vector & v_base_AB ) const [inline]

Changes the reference point of the twist. The vector v_base_AB is expressed in the same base as the twist The vector v_base_AB is a vector from the old point to the new point.

Complexity : 6M+6A

void KDL::Twist::ReverseSign ( ) [inline]

Reverses the sign of the twist.

static Twist KDL::Twist::Zero ( ) [inline, static]

Returns:: a zero Twist : Twist(Vector::Zero(),Vector::Zero())

Friends And Related Function Documentation

double dot	(	const Twist &	lhs,
		const Wrench &	rhs
	)		`[friend]`

double dot	(	const Wrench &	rhs,
		const Twist &	lhs
	)		`[friend]`

bool Equal	(	const Twist &	a,
		const Twist &	b,
		double	eps = `epsilon`
	)		`[friend]`

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

friend class Frame [friend]

Definition at line 781 of file frames.hpp.

bool operator!=	(	const Twist &	a,
		const Twist &	b
	)		`[friend]`

The literal inequality operator!=().

Twist operator*	(	const Twist &	lhs,
		double	rhs
	)		`[friend]`

Twist operator*	(	double	lhs,
		const Twist &	rhs
	)		`[friend]`

Twist operator*	(	const Twist &	lhs,
		const Twist &	rhs
	)		`[friend]`

Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.

Wrench operator*	(	const Twist &	lhs,
		const Wrench &	rhs
	)		`[friend]`

Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.

Twist operator+	(	const Twist &	lhs,
		const Twist &	rhs
	)		`[friend]`

Twist operator-	(	const Twist &	lhs,
		const Twist &	rhs
	)		`[friend]`

Twist operator- ( const Twist & arg ) [friend]

Twist operator/	(	const Twist &	lhs,
		double	rhs
	)		`[friend]`

bool operator==	(	const Twist &	a,
		const Twist &	b
	)		`[friend]`

The literal equality operator==(), also identical.

friend class Rotation [friend]

Definition at line 780 of file frames.hpp.

void SetToZero ( Twist & v ) [friend]

Member Data Documentation

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 714 of file frames.hpp.

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 713 of file frames.hpp.

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

frames.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation