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IMETHOD Vector | KDL::addDelta (const Vector &p_w_a, const Vector &p_w_da, double dt=1) |
| adds vector da to vector a. see also the corresponding diff() routine. More...
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IMETHOD Rotation | KDL::addDelta (const Rotation &R_w_a, const Vector &da_w, double dt=1) |
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IMETHOD Frame | KDL::addDelta (const Frame &F_w_a, const Twist &da_w, double dt=1) |
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IMETHOD Twist | KDL::addDelta (const Twist &a, const Twist &da, double dt=1) |
| adds the twist da to the twist a. see also the corresponding diff() routine. More...
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IMETHOD Wrench | KDL::addDelta (const Wrench &a, const Wrench &da, double dt=1) |
| adds the wrench da to the wrench w. see also the corresponding diff() routine. see also the corresponding diff() routine. More...
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IMETHOD Vector | KDL::diff (const Vector &p_w_a, const Vector &p_w_b, double dt=1) |
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IMETHOD Vector | KDL::diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt=1) |
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IMETHOD Twist | KDL::diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1) |
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IMETHOD Twist | KDL::diff (const Twist &a, const Twist &b, double dt=1) |
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IMETHOD Wrench | KDL::diff (const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1) |
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IMETHOD double | KDL::dot (const Vector &lhs, const Vector &rhs) |
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IMETHOD double | KDL::dot (const Twist &lhs, const Wrench &rhs) |
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IMETHOD double | KDL::dot (const Wrench &rhs, const Twist &lhs) |
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bool | KDL::Equal (const Vector &a, const Vector &b, double eps=epsilon) |
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bool | KDL::Equal (const Frame &a, const Frame &b, double eps=epsilon) |
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bool | KDL::Equal (const Twist &a, const Twist &b, double eps=epsilon) |
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bool | KDL::Equal (const Wrench &a, const Wrench &b, double eps=epsilon) |
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bool | KDL::Equal (const Vector2 &a, const Vector2 &b, double eps=epsilon) |
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bool | KDL::Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon) |
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bool | KDL::Equal (const Frame2 &a, const Frame2 &b, double eps=epsilon) |
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bool | KDL::Equal (const Rotation &a, const Rotation &b, double eps) |
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IMETHOD bool | KDL::operator!= (const Frame &a, const Frame &b) |
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IMETHOD bool | KDL::operator!= (const Vector &a, const Vector &b) |
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IMETHOD bool | KDL::operator!= (const Twist &a, const Twist &b) |
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IMETHOD bool | KDL::operator!= (const Wrench &a, const Wrench &b) |
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IMETHOD bool | KDL::operator!= (const Rotation &a, const Rotation &b) |
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IMETHOD bool | KDL::operator!= (const Vector2 &a, const Vector2 &b) |
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Vector | KDL::operator* (const Vector &lhs, double rhs) |
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Vector | KDL::operator* (double lhs, const Vector &rhs) |
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Vector | KDL::operator* (const Vector &lhs, const Vector &rhs) |
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Wrench | KDL::operator* (const Wrench &lhs, double rhs) |
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Wrench | KDL::operator* (double lhs, const Wrench &rhs) |
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Twist | KDL::operator* (const Twist &lhs, double rhs) |
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Twist | KDL::operator* (double lhs, const Twist &rhs) |
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Twist | KDL::operator* (const Twist &lhs, const Twist &rhs) |
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Wrench | KDL::operator* (const Twist &lhs, const Wrench &rhs) |
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Frame | KDL::operator* (const Frame &lhs, const Frame &rhs) |
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IMETHOD Vector2 | KDL::operator* (const Vector2 &lhs, double rhs) |
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IMETHOD Vector2 | KDL::operator* (double lhs, const Vector2 &rhs) |
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IMETHOD Rotation2 | KDL::operator* (const Rotation2 &lhs, const Rotation2 &rhs) |
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IMETHOD Frame2 | KDL::operator* (const Frame2 &lhs, const Frame2 &rhs) |
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IMETHOD Vector | KDL::operator+ (const Vector &lhs, const Vector &rhs) |
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Wrench | KDL::operator+ (const Wrench &lhs, const Wrench &rhs) |
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Twist | KDL::operator+ (const Twist &lhs, const Twist &rhs) |
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IMETHOD Vector2 | KDL::operator+ (const Vector2 &lhs, const Vector2 &rhs) |
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IMETHOD Vector | KDL::operator- (const Vector &lhs, const Vector &rhs) |
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Wrench | KDL::operator- (const Wrench &lhs, const Wrench &rhs) |
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Wrench | KDL::operator- (const Wrench &arg) |
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Twist | KDL::operator- (const Twist &lhs, const Twist &rhs) |
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Twist | KDL::operator- (const Twist &arg) |
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Vector | KDL::operator- (const Vector &arg) |
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IMETHOD Vector2 | KDL::operator- (const Vector2 &lhs, const Vector2 &rhs) |
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IMETHOD Vector2 | KDL::operator- (const Vector2 &arg) |
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Vector | KDL::operator/ (const Vector &lhs, double rhs) |
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Wrench | KDL::operator/ (const Wrench &lhs, double rhs) |
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Twist | KDL::operator/ (const Twist &lhs, double rhs) |
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IMETHOD Vector2 | KDL::operator/ (const Vector2 &lhs, double rhs) |
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bool | KDL::operator== (const Rotation &a, const Rotation &b) |
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IMETHOD bool | KDL::operator== (const Frame &a, const Frame &b) |
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IMETHOD bool | KDL::operator== (const Vector &a, const Vector &b) |
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IMETHOD bool | KDL::operator== (const Twist &a, const Twist &b) |
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IMETHOD bool | KDL::operator== (const Wrench &a, const Wrench &b) |
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IMETHOD bool | KDL::operator== (const Vector2 &a, const Vector2 &b) |
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IMETHOD void | KDL::posrandom (Vector &a) |
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IMETHOD void | KDL::posrandom (Twist &a) |
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IMETHOD void | KDL::posrandom (Wrench &a) |
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IMETHOD void | KDL::posrandom (Rotation &R) |
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IMETHOD void | KDL::posrandom (Frame &F) |
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IMETHOD void | KDL::random (Vector &a) |
| addDelta operator for displacement rotational velocity. More...
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IMETHOD void | KDL::random (Twist &a) |
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IMETHOD void | KDL::random (Wrench &a) |
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IMETHOD void | KDL::random (Rotation &R) |
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IMETHOD void | KDL::random (Frame &F) |
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IMETHOD Rotation | KDL::Rot (const Vector &axis_a_b) |
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IMETHOD void | KDL::SetToZero (Vector &v) |
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IMETHOD void | KDL::SetToZero (Twist &v) |
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IMETHOD void | KDL::SetToZero (Wrench &v) |
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IMETHOD void | KDL::SetToZero (Vector2 &v) |
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- Warning
- Efficienty can be improved by writing p2 = A*(B*(C*p1))) instead of p2=A*B*C*p1
- PROPOSED NAMING CONVENTION FOR FRAME-like OBJECTS
* A naming convention of objects of the type defined in this file :
* (1) Frame : F...
* Rotation : R ...
* (2) Twist : T ...
* Wrench : W ...
* Vector : V ...
* This prefix is followed by :
* for category (1) :
* F_A_B : w.r.t. frame A, frame B expressed
* ( each column of F_A_B corresponds to an axis of B,
* expressed w.r.t. frame A )
* in mathematical convention :
* A
* F_A_B == F
* B
*
* for category (2) :
* V_B : a vector expressed w.r.t. frame B
*
* This can also be prepended by a name :
* e.g. : temporaryV_B
*
* With this convention one can write :
*
* F_A_B = F_B_A.Inverse();
* F_A_C = F_A_B * F_B_C;
* V_B = F_B_C * V_C; // both translation and rotation
* V_B = R_B_C * V_C; // only rotation
*
- CONVENTIONS FOR WHEN USED WITH ROBOTS :
* world : represents the frame ([1 0 0,0 1 0,0 0 1],[0 0 0]')
* mp : represents mounting plate of a robot
* (i.e. everything before MP is constructed by robot manufacturer
* everything after MP is tool )
* tf : represents task frame of a robot
* (i.e. frame in which motion and force control is expressed)
* sf : represents sensor frame of a robot
* (i.e. frame at which the forces measured by the force sensor
* are expressed )
*
* Frame F_world_mp=...;
* Frame F_mp_sf(..)
* Frame F_mp_tf(,.)
*
* Wrench are measured in sensor frame SF, so one could write :
* Wrench_tf = F_mp_tf.Inverse()* ( F_mp_sf * Wrench_sf );
*
- CONVENTIONS REGARDING UNITS :
- Any consistent series of units can be used, e.g. N,mm,Nmm,..mm/sec
- Twist and Wrench transformations
- 3 different types of transformations do exist for the twists and wrenches.
* 1) Frame * Twist or Frame * Wrench :
* this transforms both the velocity/force reference point
* and the basis to which the twist/wrench are expressed.
* 2) Rotation * Twist or Rotation * Wrench :
* this transforms the basis to which the twist/wrench are
* expressed, but leaves the reference point intact.
* 3) Twist.RefPoint(v_base_AB) or Wrench.RefPoint(v_base_AB)
* this transforms only the reference point. v is expressed
* in the same base as the twist/wrench and points from the
* old reference point to the new reference point.
*
- Spatial cross products
- Let m be a 6D motion vector (Twist) and f be a 6D force vector (Wrench) attached to a rigid body moving with a certain velocity v (Twist). Then
* 1) m_dot = v cross m or Twist=Twist*Twist
* 2) f_dot = v cross f or Wrench=Twist*Wrench
*
- Complexity
- Sometimes the amount of work is given in the documentation e.g. 6M+3A means 6 multiplications and 3 additions.
- Author
- Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
Definition in file frames.hpp.