Twist< _Scalar > Class Template Reference

Class describing a Twist. More...

#include <Twist.h>

Inheritance diagram for Twist< _Scalar >:

List of all members.

Public Types
typedef Base::BaseType	BaseType
typedef internal::traits < Twist >::Coefficients	Coefficients
Public Member Functions
Coefficients &	get ()
const Coefficients &	get () const
	Twist ()
	Twist (const Twist &g)
	Twist (const BaseType &g)
	Twist (Scalar rx, Scalar ry, Scalar rz, Scalar vx, Scalar vy, Scalar vz)
template<typename OtherDerived >
EIGEN_STRONG_INLINE	Twist (const MatrixBase< OtherDerived > &other)
template<class LinearVelocityDerived , class AngularVelocityDerived >
	Twist (const LieAlgebraBase< Matrix< Scalar, 3, 1 >, AngularVelocityDerived > &r, const MatrixBase< LinearVelocityDerived > &v)
	Twist (const typename Base::AngularVelocity &r, const typename Base::LinearVelocity &v)
Protected Types
typedef TwistBase< Twist < _Scalar > >	Base
Protected Attributes
Coefficients	m_coeffs

---

Detailed Description

template<typename _Scalar>
class Twist< _Scalar >

Class describing a Twist.

Template Parameters:

_Scalar

the type of the underlying array

This class add some specific constructors

See also:

The methods are defined in LieAlgebraBase and TwistBase

Definition at line 141 of file Twist.h.

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Member Typedef Documentation

template<typename _Scalar>

typedef TwistBase<Twist<_Scalar> > Twist< _Scalar >::Base [protected]

The inherited class

Reimplemented from TwistBase< Twist< _Scalar > >.

Definition at line 143 of file Twist.h.

template<typename _Scalar>

typedef Base::BaseType Twist< _Scalar >::BaseType

The inherited class

Reimplemented from TwistBase< Twist< _Scalar > >.

Definition at line 151 of file Twist.h.

template<typename _Scalar>

typedef internal::traits<Twist>::Coefficients Twist< _Scalar >::Coefficients

the stored coefficients

Reimplemented from TwistBase< Twist< _Scalar > >.

Definition at line 153 of file Twist.h.

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Constructor & Destructor Documentation

template<typename _Scalar>

Twist< _Scalar >::Twist

(

)

[inline]

Default constructor

Definition at line 157 of file Twist.h.

template<typename _Scalar>

Twist< _Scalar >::Twist

(

const Twist< _Scalar > &

g

)

[inline]

Copy constructor

Definition at line 159 of file Twist.h.

template<typename _Scalar>

Twist< _Scalar >::Twist

(

const BaseType &

g

)

[inline]

Copy constructor

Definition at line 161 of file Twist.h.

template<typename _Scalar>

Twist< _Scalar >::Twist	(	Scalar	rx,
		Scalar	ry,
		Scalar	rz,
		Scalar	vx,
		Scalar	vy,
		Scalar	vz
	)		[inline]

Constructs an element of se(3) from 6 scalar

Definition at line 163 of file Twist.h.

template<typename _Scalar>

template<typename OtherDerived >

EIGEN_STRONG_INLINE Twist< _Scalar >::Twist

(

const MatrixBase< OtherDerived > &

other

)

[inline]

Copy constructor : need to build a twist from a CWiseBinaryOp or CWiseUnaryOp

Definition at line 173 of file Twist.h.

template<typename _Scalar>

template<class LinearVelocityDerived , class AngularVelocityDerived >

Twist< _Scalar >::Twist	(	const LieAlgebraBase< Matrix< Scalar, 3, 1 >, AngularVelocityDerived > &	r,
		const MatrixBase< LinearVelocityDerived > &	v
	)		[inline]

Assignement operator : need to copy a CWiseBinaryOp or CWiseUnaryOp to a Twist Constructs Twist from an angular velocity r and a linear velocity v

Definition at line 186 of file Twist.h.

template<typename _Scalar>

Twist< _Scalar >::Twist	(	const typename Base::AngularVelocity &	r,
		const typename Base::LinearVelocity &	v
	)		[inline]

Constructs Twist from an angular velocity r and a linear velocity v

Definition at line 191 of file Twist.h.

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Member Function Documentation

template<typename _Scalar>

Coefficients& Twist< _Scalar >::get

(

)

[inline]

Returns:

The stored coefficients

Reimplemented from LieAlgebraBase< Matrix< internal::traits< Twist< _Scalar > >::Scalar, 6, 1 >, Twist< _Scalar > >.

Definition at line 196 of file Twist.h.

template<typename _Scalar>

const Coefficients& Twist< _Scalar >::get

(

)

const [inline]

Returns:

The read-only access to the stored coefficients

Reimplemented from LieAlgebraBase< Matrix< internal::traits< Twist< _Scalar > >::Scalar, 6, 1 >, Twist< _Scalar > >.

Definition at line 198 of file Twist.h.

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Member Data Documentation

template<typename _Scalar>

Coefficients Twist< _Scalar >::m_coeffs [protected]

The wrapped coefficients

Definition at line 202 of file Twist.h.

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

• Twist.h