A SpatialMotion vector is a MotionVector with a RobotDynamics::ReferenceFrame it is expressed in. This allows for runtime checks that frame rules are obeyed and makes it easy to change the frame the metion vector is expressed in. As with a SpatialAcceleration, a SpatialMotion vector is the spatial velocity of a SpatialMotion::bodyFrame relative to a SpatialMotion::baseFrame and is expressed in RobotDynamics::FrameObject::referenceFrame. More...

#include <SpatialMotion.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialMotion:

[legend]

Public Member Functions
SpatialMotion	changeFrameAndCopy (ReferenceFramePtr referenceFrame) const
	Copy and change frame. More...

ReferenceFramePtr	getBaseFrame () const
	Get a SpatialMotions SpatialMotion::baseFrame. More...

ReferenceFramePtr	getBodyFrame () const
	Get a SpatialMotions SpatialMotion::bodyFrame. More...

FrameVector	getFramedAngularPart () const
	Get angular part of spatial motion as a frame vector. More...

FrameVector	getFramedLinearPart () const
	Get linear part of spatial motion as a frame vector. More...

Math::TransformableGeometricObject *	getTransformableGeometricObject ()
	Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method. More...

void	operator%= (const SpatialMotion &v)
	This is an operator for performing what is referred to in Featherstone as the spatial vector cross( $\times$ ) operator times a MotionVector. In VDuindam the spatial vector cross operator is referred to as the adjoint of a twist, denoted . This method performs, $m =(v\times) m = ad_{v}m = \begin{bmatrix} \omega\times & \mathbf{0} \\ v\times & \omega\times \end{bmatrix} m$ The 3d vector $\times$ operator is equivalent to the $\sim$ operator. See Math::toTildeForm. More...

void	operator+= (const SpatialMotion &v)
	Overloaded += operator. Frame checks are performed. More...

void	operator-= (const SpatialMotion &v)
	Overloaded -= operator. Frame checks are performed. More...

SpatialMotion &	operator= (const SpatialMotion &other)

void	setBaseFrame (ReferenceFramePtr referenceFrame)
	Sets the base frame of a spatial motion. More...

void	setBodyFrame (ReferenceFramePtr referenceFrame)
	Sets the body frame of a spatial motion. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const SpatialVector &v)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, double wx, double wy, double wz, double vx, double vy, double vz)

	SpatialMotion ()
	Constructor. SpatialMotion::bodyFrame, SpatialMotion::baseFrame, and RobotDynamics::FrameObject::referenceFrame initialized to nullptr. More...

	SpatialMotion (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const double wx, const double wy, const double wz, const double vx, const double vy, const double vz)
	Constructor. More...

	SpatialMotion (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const Vector3d &w, const Vector3d v)
	Constructor. More...

	SpatialMotion (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const SpatialVector &v)
	Constructor. More...

	SpatialMotion (const SpatialMotion &spatialMotion)
	Copy constructor. More...

MotionVector	toMotionVector () const
	Get a copy of this SpatialMotion as type MotionVector. More...

Public Member Functions inherited from RobotDynamics::Math::MotionVector
MotionVector	cross (const MotionVector &v)
	See V. Duindum thesis p.25 for an explanation of what operator is. It is also in Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times$ operator for spatial vectors. Given two SpatialMotion vectors, and , this method returns $v_3 = (v_1\times) v_2$ . Expanded, it looks like, $v_3 = (v_1 \times) v_2 = ad_{v_1} v_2 = \begin{bmatrix} \omega_{v_1} \times & \mathbf{0} \\ v_{v_1}\times & \omega_{v_1}\times \end{bmatrix} v_2$ The 3d vector $\times$ operator is equivalent to the $\sim$ operator. See Math::toTildeForm. More...

ForceVector	cross (const ForceVector &v)
	See Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times $ operator for spatial vectors. Given a SpatialMotion vector, , and SpatialForceVector, , this method returns $f_2 = (v_1\times ) f_1$ . Expanded, it looks like, $=(v_1\times *) f_1 = \begin{bmatrix} \omega_{v_1}\times & v_{v_1}\times \\ \mathbf{0} & \omega_{v_1}\times \end{bmatrix} f$ The 3d vector $\times$ operator is equivalent to the $\sim$ operator. See Math::toTildeForm. More...

SpatialMatrix	crossf ()
	Get the spatial force cross matrix. More...

SpatialMatrix	crossm ()
	Get the spatial motion cross matrix, $m\times = \begin{bmatrix} \omega\times & \mathbf{0} \\ v\times & \omega\times \end{bmatrix}$ . More...

template<typename OtherDerived >
	MotionVector (const Eigen::MatrixBase< OtherDerived > &other)
	Constructor. More...

EIGEN_STRONG_INLINE	MotionVector ()
	Empty constructor. More...

	MotionVector (const double v0, const double v1, const double v2, const double v3, const double v4, const double v5)
	Constructor. More...

MotionVector	operator%= (const MotionVector &v)
	Operator for performing the RBDA $\times$ operator for two motion vectors, i.e. $m_2=(m_1\times)m_2$ . More...

ForceVector	operator%= (const ForceVector &v)
	Operator for performing the RBDA $\times $ operator for a motion vector and a force vector, i.e. $f=(m\times )f$ . More...

MotionVector	operator+= (const MotionVector &v)
	Overloaded += operator for a MotionVector. More...

MotionVector &	operator= (const MotionVector &other)
	Overload equal operator. More...

EIGEN_STRONG_INLINE void	set (const MotionVector &v)
	Setter. More...

EIGEN_STRONG_INLINE SpatialVector	toSpatialVector () const
	Get a copy of a MotionVector as a SpatialVector. More...

void	transform (const SpatialTransform &X)
	Transforms a motion vector. Performs . More...

MotionVector	transform_copy (const SpatialTransform &X) const
	Copies, transforms, and returns a MotionVector. Performs . More...

EIGEN_STRONG_INLINE double &	vx ()
	Get a reference to the linear-x component. More...

EIGEN_STRONG_INLINE double	vx () const
	Get a copy of the linear-x component. More...

EIGEN_STRONG_INLINE double &	vy ()
	Get a reference to the linear-y component. More...

EIGEN_STRONG_INLINE double	vy () const
	Get a copy of the linear-y component. More...

EIGEN_STRONG_INLINE double &	vz ()
	Get a reference to the linear-z component. More...

EIGEN_STRONG_INLINE double	vz () const
	Get a copy of the linear-z component. More...

EIGEN_STRONG_INLINE double &	wx ()
	Get a reference to the angular-x component. More...

EIGEN_STRONG_INLINE double	wx () const
	Get a copy of the angular-x component. More...

EIGEN_STRONG_INLINE double &	wy ()
	Get a reference to the angular-y component. More...

EIGEN_STRONG_INLINE double	wy () const
	Get a copy of the angular-y component. More...

EIGEN_STRONG_INLINE double &	wz ()
	Get a reference to the angular-z component. More...

EIGEN_STRONG_INLINE double	wz () const
	Get a copy of the angular-z component. More...

Public Member Functions inherited from RobotDynamics::Math::SpatialVector
EIGEN_STRONG_INLINE Vector3d	getAngularPart () const

EIGEN_STRONG_INLINE Vector3d	getLinearPart () const

template<typename OtherDerived >
SpatialVector &	operator= (const Eigen::MatrixBase< OtherDerived > &other)

EIGEN_STRONG_INLINE void	set (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)

EIGEN_STRONG_INLINE void	set (const Vector3d &angularPart, const Vector3d &linearPart)

void	setAngularPart (const Vector3d &v)

void	setLinearPart (const Vector3d &v)

template<typename OtherDerived >
	SpatialVector (const Eigen::MatrixBase< OtherDerived > &other)

EIGEN_STRONG_INLINE	SpatialVector ()

EIGEN_STRONG_INLINE	SpatialVector (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)

Public Member Functions inherited from RobotDynamics::FrameObject
virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...

void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two ReferenceFrameHolders hold the same ReferenceFrame. More...

void	checkReferenceFramesMatch (FrameObject *frameObject) const

	FrameObject (ReferenceFramePtr referenceFrame)

ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...

void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...

virtual	~FrameObject ()
	Destructor. More...

Protected Attributes
ReferenceFramePtr	baseFrame

ReferenceFramePtr	bodyFrame

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Additional Inherited Members
Public Types inherited from RobotDynamics::Math::SpatialVector
typedef Eigen::Matrix< double, 6, 1 >	Base

Detailed Description

A SpatialMotion vector is a MotionVector with a RobotDynamics::ReferenceFrame it is expressed in. This allows for runtime checks that frame rules are obeyed and makes it easy to change the frame the metion vector is expressed in. As with a SpatialAcceleration, a SpatialMotion vector is the spatial velocity of a SpatialMotion::bodyFrame relative to a SpatialMotion::baseFrame and is expressed in RobotDynamics::FrameObject::referenceFrame.

Definition at line 35 of file SpatialMotion.hpp.

Constructor & Destructor Documentation

RobotDynamics::Math::SpatialMotion::SpatialMotion ( )

inline

Constructor. SpatialMotion::bodyFrame, SpatialMotion::baseFrame, and RobotDynamics::FrameObject::referenceFrame initialized to nullptr.

Definition at line 42 of file SpatialMotion.hpp.

RobotDynamics::Math::SpatialMotion::SpatialMotion	(	ReferenceFramePtr	bodyFrame,
		ReferenceFramePtr	baseFrame,
		ReferenceFramePtr	expressedInFrame,
		const double	wx,
		const double	wy,
		const double	wz,
		const double	vx,
		const double	vy,
		const double	vz
	)

inline

Constructor.

Parameters

bodyFrame	RobotDynamics::ReferenceFrame in motion
baseFrame	RobotDynamics::ReferenceFrame the motion is relative to
expressedInFrame	RobotDynamics::ReferenceFrame the motion vector is expressed in
wx	x-Angular part
wy	y-Angular part
wz	z-Angular part
vx	x-Linear part
vy	y-Linear part
vz	z-Linear part

Definition at line 60 of file SpatialMotion.hpp.

RobotDynamics::Math::SpatialMotion::SpatialMotion	(	ReferenceFramePtr	bodyFrame,
		ReferenceFramePtr	baseFrame,
		ReferenceFramePtr	expressedInFrame,
		const Vector3d &	w,
		const Vector3d	v
	)

inline

Constructor.

Parameters

bodyFrame	RobotDynamics::ReferenceFrame in motion
baseFrame	RobotDynamics::ReferenceFrame the motion is relative to
expressedInFrame	RobotDynamics::ReferenceFrame the motion vector is expressed in
w	Angular part
v	Linear part

Definition at line 76 of file SpatialMotion.hpp.

RobotDynamics::Math::SpatialMotion::SpatialMotion	(	ReferenceFramePtr	bodyFrame,
		ReferenceFramePtr	baseFrame,
		ReferenceFramePtr	expressedInFrame,
		const SpatialVector &	v
	)

inline

Constructor.

Parameters

bodyFrame	RobotDynamics::ReferenceFrame in motion
baseFrame	RobotDynamics::ReferenceFrame the motion is relative to
expressedInFrame	RobotDynamics::ReferenceFrame the motion vector is expressed in
v

Definition at line 90 of file SpatialMotion.hpp.

RobotDynamics::Math::SpatialMotion::SpatialMotion ( const SpatialMotion & spatialMotion )

inline

Copy constructor.

Parameters

spatialMotion

Definition at line 101 of file SpatialMotion.hpp.

Member Function Documentation

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

inline

Copy and change frame.

Parameters

referenceFrame

Returns: Copied spatial transform with frame changed

Definition at line 135 of file SpatialMotion.hpp.

ReferenceFramePtr RobotDynamics::Math::SpatialMotion::getBaseFrame ( ) const

inline

Get a SpatialMotions SpatialMotion::baseFrame.

Returns: The base frame, i.e. the frame the SpatialMotion is relative to

Definition at line 155 of file SpatialMotion.hpp.

ReferenceFramePtr RobotDynamics::Math::SpatialMotion::getBodyFrame ( ) const

inline

Get a SpatialMotions SpatialMotion::bodyFrame.

Returns: The body frame, i.e. the principal moving frame

Definition at line 146 of file SpatialMotion.hpp.

FrameVector RobotDynamics::Math::SpatialMotion::getFramedAngularPart ( ) const

inline

Get angular part of spatial motion as a frame vector.

Returns: FrameVector consisting of the reference frame and the angular portion

Definition at line 120 of file SpatialMotion.hpp.

FrameVector RobotDynamics::Math::SpatialMotion::getFramedLinearPart ( ) const

inline

Get linear part of spatial motion as a frame vector.

Returns: FrameVector consisting of the reference frame and the linear portion

Definition at line 111 of file SpatialMotion.hpp.

Math::TransformableGeometricObject* RobotDynamics::Math::SpatialMotion::getTransformableGeometricObject ( )

inlinevirtual

Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method.

Returns

Implements RobotDynamics::FrameObject.

Definition at line 125 of file SpatialMotion.hpp.

void RobotDynamics::Math::SpatialMotion::operator%= ( const SpatialMotion & v )

This is an operator for performing what is referred to in Featherstone as the spatial vector cross( $\times$ ) operator times a MotionVector. In VDuindam the spatial vector cross operator is referred to as the adjoint of a twist, denoted $ad_T$ . This method performs,

$m =(v\times) m = ad_{v}m = \begin{bmatrix} \omega\times & \mathbf{0} \\ v\times & \omega\times \end{bmatrix} m$

The 3d vector $\times$ operator is equivalent to the $\sim$ operator. See Math::toTildeForm.

Parameters

v

Definition at line 56 of file SpatialMotion.cpp.

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

Overloaded += operator. Frame checks are performed.

Parameters

v

Definition at line 14 of file SpatialMotion.cpp.

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

Overloaded -= operator. Frame checks are performed.

Parameters

v

Definition at line 30 of file SpatialMotion.cpp.

SpatialMotion& RobotDynamics::Math::SpatialMotion::operator= ( const SpatialMotion & other )

inline

Definition at line 181 of file SpatialMotion.hpp.

void RobotDynamics::Math::SpatialMotion::setBaseFrame ( ReferenceFramePtr referenceFrame )

inline

Sets the base frame of a spatial motion.

Parameters

referenceFrame

Definition at line 233 of file SpatialMotion.hpp.

void RobotDynamics::Math::SpatialMotion::setBodyFrame ( ReferenceFramePtr referenceFrame )

inline

Sets the body frame of a spatial motion.

Parameters

referenceFrame

Definition at line 224 of file SpatialMotion.hpp.

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

inline

Definition at line 169 of file SpatialMotion.hpp.

void RobotDynamics::Math::SpatialMotion::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		double	wx,
		double	wy,
		double	wz,
		double	vx,
		double	vy,
		double	vz
	)

inline

Definition at line 175 of file SpatialMotion.hpp.

MotionVector RobotDynamics::Math::SpatialMotion::toMotionVector ( ) const

inline

Get a copy of this SpatialMotion as type MotionVector.

Returns: MotionVector that is a copy of a SpatialMotion

Definition at line 164 of file SpatialMotion.hpp.

Member Data Documentation

ReferenceFramePtr RobotDynamics::Math::SpatialMotion::baseFrame

protected

Definition at line 240 of file SpatialMotion.hpp.

ReferenceFramePtr RobotDynamics::Math::SpatialMotion::bodyFrame

protected

Definition at line 239 of file SpatialMotion.hpp.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation