27 f_tip(_joint.pose(0).Inverse() * _f_tip)
Segment & operator=(const Segment &arg)
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body...
Twist RefPoint(const Vector &v_base_AB) const
6D Inertia of a rigid body
Frame pose(const double &q) const
Rotation M
Orientation of the Frame.
Frame pose(const double &q) const
Twist twist(const double &q, const double &qdot) const
represents both translational and rotational velocities.
void setFrameToTip(const Frame &f_tip_new)
Vector p
origine of the Frame
Frame Inverse() const
Gives back inverse transformation of a Frame.
Segment(const std::string &name, const Joint &joint=Joint(Joint::Fixed), const Frame &f_tip=Frame::Identity(), const RigidBodyInertia &I=RigidBodyInertia::Zero())
represents a frame transformation in 3D space (rotation + translation)
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Twist twist(const double &qdot) const