xpp::StateAng3d Class Reference

Angular state of an object in 3-dimensional space. More...

#include <state.h>

Public Member Functions
	StateAng3d (Quaterniond _q=Quaterniond(1.0, 0.0, 0.0, 0.0), Vector3d _w=Vector3d::Zero(), Vector3d _wd=Vector3d::Zero())
	Builds an angular state. More...

Public Attributes
Quaterniond	q
	orientation expressed as Quaternion. More...
Vector3d	w
	angular velocity (omega). More...
Vector3d	wd
	angular acceleration (omega dot). More...

Detailed Description

Angular state of an object in 3-dimensional space.

The orientation is expressed as a Quaternion, whereas velocities and acceleration are 3D-vectors.

Definition at line 147 of file state.h.

Constructor & Destructor Documentation

xpp::StateAng3d::StateAng3d ( Quaterniond  _q = Quaterniond(1.0, 0.0, 0.0, 0.0), Vector3d  _w = Vector3d::Zero(), Vector3d  _wd = Vector3d::Zero()  )

inlineexplicit

Builds an angular state.

Parameters

_q	orientation expressed as Quaternion.
_w	angular velocity (omega).
_wd	angular acceleration (omega dot).

The conventions (Quaterion should map world to base or vice versa, angular vel/acc expressed in base or world frame) can be chosen by the user.

Definition at line 163 of file state.h.

Member Data Documentation

Quaterniond xpp::StateAng3d::q

orientation expressed as Quaternion.

Definition at line 149 of file state.h.

Vector3d xpp::StateAng3d::w

angular velocity (omega).

Definition at line 150 of file state.h.

Vector3d xpp::StateAng3d::wd

angular acceleration (omega dot).

Definition at line 151 of file state.h.

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

• state.h