A FrameVector is a pair of 3D vector with a ReferenceFrame. More...

#include <FrameVectorPair.hpp>

Public Member Functions
FrameVector	angular () const
	Get copy of angular component. More...

FrameVector *	angularPtr ()
	Get pointer to angular vector. More...

void	changeFrame (ReferenceFramePtr referenceFrame)
	Change the frame of the two 3d vectors. Equivalent to the following math expression $\begin{bmatrix} E & 0 \\ 0 & E \end{bmatrix} \begin{bmatrix} angular \\ linear \end{bmatrix}$ . More...

FrameVectorPair	changeFrameAndCopy (ReferenceFramePtr referenceFrame) const
	copy into new frame vector and change the frame of that More...

	FrameVectorPair ()
	Default constructor. Initializes its ReferenceFrame to nullptr. More...

	FrameVectorPair (const FrameVector &linear, const FrameVector &angular)

	FrameVectorPair (ReferenceFramePtr referenceFrame)

	FrameVectorPair (const SpatialMotion &v)
	Constructor. More...

	FrameVectorPair (ReferenceFramePtr referenceFrame, const Vector3d &linear, const Vector3d &angular)
	Constructor. More...

	FrameVectorPair (ReferenceFramePtr referenceFrame, const SpatialVector &v)
	Constructor. More...

FrameVector	linear () const
	Get copy of linear component. More...

FrameVector *	linearPtr ()
	Get pointer to linear vector. More...

template<typename T >
void	operator*= (const T scale)

void	operator+= (const FrameVectorPair &v)

void	operator-= (const FrameVectorPair &v)

void	setAngularPart (const Vector3d &v)
	Set the angular vector. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const Vector3d &linear, const Vector3d &angular)
	Set the components and the ReferenceFrame these components are expressed in. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const SpatialVector &v)
	Set the components and the ReferenceFrame these components are expressed in. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const MotionVector &v)
	Set the components and the ReferenceFrame these components are expressed in. More...

void	setIncludingFrame (const SpatialMotion &v)
	Set the components and the ReferenceFrame these components are expressed in. More...

void	setLinearPart (const Vector3d &v)
	Set the linear vector. More...

void	setReferenceFrame (ReferenceFramePtr referenceFrame)
	Set the reference frame. More...

void	setToZero ()
	Set x, y, and z components of linear and angular to 0. More...

virtual	~FrameVectorPair ()
	Destructor. More...

Protected Attributes
FrameVector	ang

FrameVector	lin

Detailed Description

A FrameVector is a pair of 3D vector with a ReferenceFrame.

Definition at line 33 of file FrameVectorPair.hpp.

Constructor & Destructor Documentation

RobotDynamics::Math::FrameVectorPair::FrameVectorPair ( )

inline

Default constructor. Initializes its ReferenceFrame to nullptr.

Definition at line 39 of file FrameVectorPair.hpp.

RobotDynamics::Math::FrameVectorPair::FrameVectorPair	(	const FrameVector &	linear,
		const FrameVector &	angular
	)

inline

Definition at line 48 of file FrameVectorPair.hpp.

RobotDynamics::Math::FrameVectorPair::FrameVectorPair ( ReferenceFramePtr referenceFrame )

inlineexplicit

Definition at line 57 of file FrameVectorPair.hpp.

RobotDynamics::Math::FrameVectorPair::FrameVectorPair ( const SpatialMotion & v )

inlineexplicit

Constructor.

Parameters

v	Spatial motion

Definition at line 65 of file FrameVectorPair.hpp.

RobotDynamics::Math::FrameVectorPair::FrameVectorPair	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	linear,
		const Vector3d &	angular
	)

inline

Constructor.

Parameters

referenceFrame	A pointer to a ReferenceFrame
linear	linear component
angular	angular component

Definition at line 77 of file FrameVectorPair.hpp.

RobotDynamics::Math::FrameVectorPair::FrameVectorPair	(	ReferenceFramePtr	referenceFrame,
		const SpatialVector &	v
	)

inline

Constructor.

Parameters

referenceFrame
v

Definition at line 86 of file FrameVectorPair.hpp.

virtual RobotDynamics::Math::FrameVectorPair::~FrameVectorPair ( )

inlinevirtual

Destructor.

Definition at line 93 of file FrameVectorPair.hpp.

Member Function Documentation

FrameVector RobotDynamics::Math::FrameVectorPair::angular ( ) const

inline

Get copy of angular component.

Returns: Copy of angular component

Definition at line 231 of file FrameVectorPair.hpp.

FrameVector* RobotDynamics::Math::FrameVectorPair::angularPtr ( )

inline

Get pointer to angular vector.

Returns: pointer

Definition at line 268 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::changeFrame ( ReferenceFramePtr referenceFrame )

inline

Change the frame of the two 3d vectors. Equivalent to the following math expression

$\begin{bmatrix} E & 0 \\ 0 & E \end{bmatrix} \begin{bmatrix} angular \\ linear \end{bmatrix}$

.

Parameters

referenceFrame

Definition at line 112 of file FrameVectorPair.hpp.

FrameVectorPair RobotDynamics::Math::FrameVectorPair::changeFrameAndCopy ( ReferenceFramePtr referenceFrame ) const

inline

copy into new frame vector and change the frame of that

Parameters

referenceFrame

Returns: Copy of frame vector pair expressed in new frame

Definition at line 124 of file FrameVectorPair.hpp.

FrameVector RobotDynamics::Math::FrameVectorPair::linear ( ) const

inline

Get copy of linear component.

Returns: Copy of linear part

Definition at line 222 of file FrameVectorPair.hpp.

FrameVector* RobotDynamics::Math::FrameVectorPair::linearPtr ( )

inline

Get pointer to linear vector.

Returns: pointer

Definition at line 259 of file FrameVectorPair.hpp.

template<typename T >

void RobotDynamics::Math::FrameVectorPair::operator*= ( const T scale )

inline

Definition at line 237 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::operator+= ( const FrameVectorPair & v )

inline

Definition at line 243 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::operator-= ( const FrameVectorPair & v )

inline

Definition at line 249 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setAngularPart ( const Vector3d & v )

inline

Set the angular vector.

Parameters

v

Definition at line 213 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	linear,
		const Vector3d &	angular
	)

inline

Set the components and the ReferenceFrame these components are expressed in.

Parameters

linear	Linear component
angular	Angular component
referenceFrame	Pointer to a ReferenceFrame this point is expressed in

Definition at line 156 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const SpatialVector &	v
	)

inline

Set the components and the ReferenceFrame these components are expressed in.

Parameters

v	spatial vector
referenceFrame	Pointer to a ReferenceFrame this point is expressed in

Definition at line 169 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const MotionVector &	v
	)

inline

Set the components and the ReferenceFrame these components are expressed in.

Parameters

v	Motion vector
referenceFrame	pointer to a reference frame

Definition at line 182 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setIncludingFrame ( const SpatialMotion & v )

inline

Set the components and the ReferenceFrame these components are expressed in.

Parameters

v	spatial motion

Definition at line 194 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setLinearPart ( const Vector3d & v )

inline

Set the linear vector.

Parameters

v

Definition at line 204 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setReferenceFrame ( ReferenceFramePtr referenceFrame )

inline

Set the reference frame.

Parameters

referenceFrame

Definition at line 144 of file FrameVectorPair.hpp.

void RobotDynamics::Math::FrameVectorPair::setToZero ( )

inline

Set x, y, and z components of linear and angular to 0.

Definition at line 134 of file FrameVectorPair.hpp.

Member Data Documentation

FrameVector RobotDynamics::Math::FrameVectorPair::ang

protected

Angular component

Definition at line 275 of file FrameVectorPair.hpp.

FrameVector RobotDynamics::Math::FrameVectorPair::lin

protected

Linear component

Definition at line 274 of file FrameVectorPair.hpp.

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

FrameVectorPair.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation