Twist< _Scalar > Class Template Reference

Class describing a Twist. More...

#include <Twist.h>

Inheritance diagram for Twist< _Scalar >:

Public Types
typedef Base::BaseType	BaseType
typedef internal::traits< Twist >::Coefficients	Coefficients
Public Types inherited from TwistBase< Twist< _Scalar > >
typedef LieAlgebra< Matrix< Scalar, 3, 1 > >	AngularVelocity
typedef Base::BaseType	BaseType
typedef internal::traits< Twist< _Scalar > >::Coefficients	Coefficients
typedef Matrix< Scalar, 3, 1 >	LinearVelocity
Public Types inherited from LieAlgebraBase< Matrix< internal::traits< Twist< _Scalar > >::Scalar, 6, 1 >, Twist< _Scalar > >
typedef LieAlgebraDual< BaseType >	AlgebraDual
typedef Matrix< internal::traits< Twist< _Scalar > >::Scalar, 6, 1 >	BaseType
typedef internal::traits< Twist< _Scalar > >::Coefficients	Coefficients
typedef Twist< _Scalar >::LieGroup	Group
typedef LieAlgebra< BaseType >	PlainObject

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)
Public Member Functions inherited from TwistBase< Twist< _Scalar > >
Twist< Scalar >	changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &) const
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 ()
Public Member Functions inherited from LieAlgebraBase< Matrix< internal::traits< Twist< _Scalar > >::Scalar, 6, 1 >, Twist< _Scalar > >
const PlainObject	adjoint (const LieAlgebraBase< BaseType, OtherDerived > &a) const
PlainObject	bracket (const LieAlgebraBase< BaseType, OtherDerived > &a) const
const Twist< _Scalar > &	derived () const
Twist< _Scalar > &	derived ()
Group	exp (Scalar precision=1.e-6) const
Coefficients &	get ()
const Coefficients &	get () const

Protected Types
typedef TwistBase< Twist< _Scalar > >	Base
Protected Types inherited from TwistBase< Twist< _Scalar > >
typedef LieAlgebraBase< Matrix< typename internal::traits< Twist< _Scalar > >::Scalar, 6, 1 >, Twist< _Scalar > >	Base
Protected Types inherited from LieAlgebraBase< Matrix< internal::traits< Twist< _Scalar > >::Scalar, 6, 1 >, Twist< _Scalar > >
typedef MatrixBase< 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.

Member Typedef Documentation

template<typename _Scalar>

typedef TwistBase<Twist<_Scalar> > Twist< _Scalar >::Base

protected

Definition at line 143 of file Twist.h.

template<typename _Scalar>

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

The inherited class

Definition at line 151 of file Twist.h.

template<typename _Scalar>

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

the stored coefficients

Definition at line 153 of file Twist.h.

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.

Member Function Documentation

template<typename _Scalar>

Coefficients& Twist< _Scalar >::get ( )

inline

Returns

The stored coefficients

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

Definition at line 198 of file Twist.h.

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