Base class describing a Twist. More...

#include <Twist.h>

Inheritance diagram for TwistBase< Derived >:

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 Types inherited from LieAlgebraBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >
typedef LieAlgebraDual< BaseType >	AlgebraDual

typedef Matrix< internal::traits< Derived >::Scalar, 6, 1 >	BaseType

typedef internal::traits< Derived >::Coefficients	Coefficients

typedef Derived::LieGroup	Group

typedef LieAlgebra< BaseType >	PlainObject

Public Member Functions
template<class RotationDerived >
Twist< Scalar >	changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &) const

template<class RotationDerived >
Twist< typename internal::traits< TwistBase< Derived > >::Scalar >	changeFrame (const LieGroupBase< Quaternion< Scalar >, RotationDerived > &rot) const

template<class OtherDerived >
Twist< Scalar >	changePoint (const MatrixBase< OtherDerived > &point) const

template<class OtherDerived >
Twist< typename internal::traits< TwistBase< Derived > >::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< Derived >::Scalar, 6, 1 >, Derived >
const PlainObject	adjoint (const LieAlgebraBase< BaseType, OtherDerived > &a) const

PlainObject	bracket (const LieAlgebraBase< BaseType, OtherDerived > &a) const

const Derived &	derived () const

Derived &	derived ()

Group	exp (Scalar precision=1.e-6) const

Coefficients &	get ()

const Coefficients &	get () const

Protected Types
typedef LieAlgebraBase< Matrix< typename internal::traits< Derived >::Scalar, 6, 1 >, Derived >	Base

Protected Types inherited from LieAlgebraBase< Matrix< internal::traits< Derived >::Scalar, 6, 1 >, Derived >
typedef MatrixBase< 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.

Definition at line 35 of file Twist.h.

Member Typedef Documentation

template<class Derived>

typedef LieAlgebra<Matrix<Scalar, 3, 1> > TwistBase< Derived >::AngularVelocity

The type of the angular part

Definition at line 79 of file Twist.h.

template<class Derived>

typedef LieAlgebraBase<Matrix<typename internal::traits<Derived>::Scalar, 6, 1>, Derived> TwistBase< Derived >::Base

protected

The inherited class

Definition at line 38 of file Twist.h.

template<class Derived>

typedef Base::BaseType TwistBase< Derived >::BaseType

The wrapped class

Definition at line 46 of file Twist.h.

template<class Derived>

typedef internal::traits<Derived>::Coefficients TwistBase< Derived >::Coefficients

The kind of stored coefficients

Definition at line 48 of file Twist.h.

template<class Derived>

typedef Matrix<Scalar, 3, 1> TwistBase< Derived >::LinearVelocity

The type of the linear part

Definition at line 77 of file Twist.h.

Member Function Documentation

template<class Derived>

template<class RotationDerived >

Twist<Scalar> TwistBase< Derived >::changeFrame ( const LieGroupBase< Quaternion< Scalar >, RotationDerived > & ) const

inline

template<class Derived>

template<class RotationDerived >

Twist<typename internal::traits<TwistBase<Derived> >::Scalar> TwistBase< Derived >::changeFrame ( const LieGroupBase< Quaternion< Scalar >, RotationDerived > & rot ) const

inline

Definition at line 98 of file Twist.h.

template<class Derived>

template<class OtherDerived >

Twist<Scalar> TwistBase< Derived >::changePoint ( const MatrixBase< OtherDerived > & point ) const

inline

template<class Derived>

template<class OtherDerived >

Twist<typename internal::traits<TwistBase<Derived> >::Scalar> TwistBase< Derived >::changePoint ( const MatrixBase< OtherDerived > & point ) const

inline

Definition at line 105 of file Twist.h.

template<class Derived>

Map<AngularVelocity> TwistBase< Derived >::getAngularVelocity ( )

inline

The accessor to the angular velocity

Definition at line 82 of file Twist.h.

template<class Derived>

Map<const AngularVelocity> TwistBase< Derived >::getAngularVelocity ( ) const

inline

The read-only accessor to the angular velocity

Definition at line 84 of file Twist.h.

template<class Derived>

Map<LinearVelocity> TwistBase< Derived >::getLinearVelocity ( )

inline

The accessor to the linear velocity

Definition at line 86 of file Twist.h.

template<class Derived>

Map<const LinearVelocity> TwistBase< Derived >::getLinearVelocity ( ) const

inline

The read-only accessor to the angular velocity

Definition at line 88 of file Twist.h.

template<class Derived>

Scalar TwistBase< Derived >::rx ( ) const

inline

Returns: the rx coefficient

Definition at line 51 of file Twist.h.

template<class Derived>

Scalar& TwistBase< Derived >::rx ( )

inline

Returns: a reference to the rx coefficient

Definition at line 64 of file Twist.h.

template<class Derived>

Scalar TwistBase< Derived >::ry ( ) const

inline

Returns: the ry coefficient

Definition at line 53 of file Twist.h.

template<class Derived>

Scalar& TwistBase< Derived >::ry ( )

inline

Returns: a reference to the ry coefficient

Definition at line 66 of file Twist.h.

template<class Derived>

Scalar TwistBase< Derived >::rz ( ) const

inline

Returns: the rz coefficient

Definition at line 55 of file Twist.h.

template<class Derived>

Scalar& TwistBase< Derived >::rz ( )

inline

Returns: a reference to the rz coefficient

Definition at line 68 of file Twist.h.

template<class Derived>

Scalar TwistBase< Derived >::vx ( ) const

inline

Returns: the vx coefficient

Definition at line 57 of file Twist.h.

template<class Derived>

Scalar& TwistBase< Derived >::vx ( )

inline

Returns: a reference to the vx coefficient

Definition at line 70 of file Twist.h.

template<class Derived>

Scalar TwistBase< Derived >::vy ( ) const

inline

Returns: the vy coefficient

Definition at line 59 of file Twist.h.

template<class Derived>

Scalar& TwistBase< Derived >::vy ( )

inline

Returns: a reference to the vy coefficient

Definition at line 72 of file Twist.h.

template<class Derived>

Scalar TwistBase< Derived >::vz ( ) const

inline

Returns: the vz coefficient

Definition at line 61 of file Twist.h.

template<class Derived>

Scalar& TwistBase< Derived >::vz ( )

inline

Returns: a reference to the vz coefficient

Definition at line 74 of file Twist.h.

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

Twist.h

Public Types

Public Member Functions

Protected Types

Detailed Description

template<class Derived> class TwistBase< Derived >

Member Typedef Documentation

Member Function Documentation

template<class Derived>
class TwistBase< Derived >