72 p(_p),v(_v),dv(_dv) {}
120 R(_R),w(_w),dw(_dw) {}
174 M(_T.M,_t.rot,_dt.rot),p(_T.p,_t.vel,_dt.vel) {}
267 #include "frameacc.inl" RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
IMETHOD void ReverseSign()
IMETHOD friend VectorAcc operator/(const VectorAcc &r1, double r2)
represents rotations in 3 dimensional space.
Vector dw
angular acceration vector
static IMETHOD VectorAcc Zero()
Vector dv
acceleration vector
Vector w
angular velocity vector
FrameAcc(const Frame &_T, const Twist &_t, const Twist &_dt)
IMETHOD VectorAcc & operator+=(const VectorAcc &arg)
IMETHOD VectorAcc & operator=(const VectorAcc &arg)
IMETHOD doubleAcc Norm(double eps=epsilon)
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
represents both translational and rotational velocities.
IMETHOD void SetToZero(Vector &v)
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
VectorAcc(const Vector &_p, const Vector &_v)
RotationAcc(const Rotation &_R, const Vector &_w, const Vector &_dw)
IMETHOD friend VectorAcc operator-(const VectorAcc &r1, const VectorAcc &r2)
A concrete implementation of a 3 dimensional vector class.
Rotation R
rotation matrix
IMETHOD friend bool Equal(const VectorAcc &r1, const VectorAcc &r2, double eps)
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
RotationAcc(const Rotation &_R)
IMETHOD friend VectorAcc operator+(const VectorAcc &r1, const VectorAcc &r2)
Rall2d< double, double, double > doubleAcc
VectorAcc(const Vector &_p)
FrameAcc(const Frame &_T)
FrameAcc(const RotationAcc &_M, const VectorAcc &_p)
represents a frame transformation in 3D space (rotation + translation)
IMETHOD VectorAcc & operator-=(const VectorAcc &arg)
VectorAcc p
Translation, velocity and acceleration of origin.
VectorAcc vel
translational velocity and its 1st and 2nd derivative
TwistAcc(const VectorAcc &_vel, const VectorAcc &_rot)
IMETHOD friend VectorAcc operator*(const VectorAcc &r1, const VectorAcc &r2)
IMETHOD friend doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)