Base class describing a Twist. More...
#include <Twist.h>
Public Types | |
| typedef LieAlgebra< Matrix < Scalar, 3, 1 > > | AngularVelocity |
| typedef Base::BaseType | BaseType |
| typedef internal::traits < Derived >::Coefficients | Coefficients |
| typedef Matrix< Scalar, 3, 1 > | LinearVelocity |
Public Member Functions | |
| template<class RotationDerived > | |
| Twist< Scalar > | changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &) const |
| template<class OtherDerived > | |
| Twist< Scalar > | changePoint (const MatrixBase< OtherDerived > &point) const |
| Map< AngularVelocity > | getAngularVelocity () |
| Map< const AngularVelocity > | getAngularVelocity () const |
| Map< LinearVelocity > | getLinearVelocity () |
| Map< const LinearVelocity > | getLinearVelocity () const |
| Scalar | rx () const |
| Scalar & | rx () |
| Scalar | ry () const |
| Scalar & | ry () |
| Scalar | rz () const |
| Scalar & | rz () |
| Scalar | vx () const |
| Scalar & | vx () |
| Scalar | vy () const |
| Scalar & | vy () |
| Scalar | vz () const |
| Scalar & | vz () |
Protected Types | |
| typedef LieAlgebraBase< Matrix < typename internal::traits < Derived >::Scalar, 6, 1 > , Derived > | Base |
Detailed Description
template<class Derived>
class TwistBase< Derived >
Base class describing a Twist.
- Template Parameters:
-
Derived the derived class holding the coefficients which are of type Matrix<Scalar, 6, 1> or Map<Matrix<Scalar, 6, 1> >
This class abstracts the underlying mathematical definition and add some accessors. A twist has two part, an angular velocity and a linear velocity. It uses an Matrix internally to store its coefficients.
Member Typedef Documentation
| typedef LieAlgebra<Matrix<Scalar, 3, 1> > TwistBase< Derived >::AngularVelocity |
typedef LieAlgebraBase<Matrix<typename internal::traits<Derived>::Scalar, 6, 1>, Derived> TwistBase< Derived >::Base [protected] |
The inherited class
Reimplemented from LieAlgebraBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >.
Reimplemented in Map< Twist< _Scalar >, MapOptions, StrideType >, and Twist< _Scalar >.
| typedef Base::BaseType TwistBase< Derived >::BaseType |
The wrapped class
Reimplemented from LieAlgebraBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >.
Reimplemented in Twist< _Scalar >.
| typedef internal::traits<Derived>::Coefficients TwistBase< Derived >::Coefficients |
The kind of stored coefficients
Reimplemented from LieAlgebraBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >.
Reimplemented in Map< Twist< _Scalar >, MapOptions, StrideType >, and Twist< _Scalar >.
| typedef Matrix<Scalar, 3, 1> TwistBase< Derived >::LinearVelocity |
Member Function Documentation
| Twist< typename internal::traits< TwistBase< Derived > >::Scalar > TwistBase< Derived >::changeFrame | ( | const LieGroupBase< Quaternion< Scalar >, RotationDerived > & | rot | ) | const [inline] |
| Twist< typename internal::traits< TwistBase< Derived > >::Scalar > TwistBase< Derived >::changePoint | ( | const MatrixBase< OtherDerived > & | point | ) | const [inline] |
| Map<AngularVelocity> TwistBase< Derived >::getAngularVelocity | ( | ) | [inline] |
| Map<const AngularVelocity> TwistBase< Derived >::getAngularVelocity | ( | ) | const [inline] |
| Map<LinearVelocity> TwistBase< Derived >::getLinearVelocity | ( | ) | [inline] |
| Map<const LinearVelocity> TwistBase< Derived >::getLinearVelocity | ( | ) | const [inline] |
The documentation for this class was generated from the following file: