33 os <<
"{" << r.
p <<
"," << r.
v <<
"," << r.
dv <<
"}" << std::endl;
38 os <<
"{" << std::endl << r.
R <<
"," << std::endl << r.
w <<
39 "," << std::endl << r.
dw << std::endl <<
"}" << std::endl;
45 os <<
"{" << std::endl << r.
M <<
"," << std::endl << r.
p <<
"}" << std::endl;
49 os <<
"{" << std::endl << r.
vel <<
"," << std::endl << r.
rot << std::endl <<
"}" << std::endl;
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Vector dw
angular acceration vector
Vector dv
acceleration vector
Vector w
angular velocity vector
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Rotation R
rotation matrix
VectorAcc p
Translation, velocity and acceleration of origin.
VectorAcc vel
translational velocity and its 1st and 2nd derivative