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) |
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) |
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 720 of file frames.hpp.
KDL::Twist::Twist | ( | ) | [inline] |
The default constructor initialises to Zero via the constructor of Vector.
Definition at line 727 of file frames.hpp.
KDL::Twist::Twist | ( | const Vector & | _vel, |
const Vector & | _rot | ||
) | [inline] |
Definition at line 729 of file frames.hpp.
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
double KDL::Twist::operator[] | ( | int | index | ) | const [inline] |
Definition at line 740 of file frames.hpp.
double& KDL::Twist::operator[] | ( | int | index | ) | [inline] |
Definition at line 745 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] |
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 790 of file frames.hpp.
The literal inequality operator!=().
Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.
Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.
The literal equality operator==(), also identical.
friend class Rotation [friend] |
Definition at line 789 of file frames.hpp.
The rotational velocity of that point.
Definition at line 723 of file frames.hpp.
The velocity of that point.
Definition at line 722 of file frames.hpp.