KDL::BinaryOp< OpMult, Frame, Frame > Class Template Reference

#include <jacobianframe.hpp>

List of all members.

Public Types
typedef Twist	derivType
typedef Frame	exprType
typedef Frame	valueType
Static Public Member Functions
static INLINE2 derivType	derivCV (const Frame &a, const Frame &, const Twist &db)
static INLINE2 derivType	derivVC (const Frame &a, const Twist &da, const Frame &b)
static INLINE2 derivType	derivVV (const Frame &a, const Twist &da, const Frame &b, const Twist &db)
static INLINE2 Frame	value (const Frame &a, const Frame &b)

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Detailed Description

template<>
class KDL::BinaryOp< OpMult, Frame, Frame >

When designing this class, I realized some inconsistency between the routines fo transforming a twist (Frame::operator*(const Twist&) and these classes : Frame1 * Twist2 = velocity component of ( RVFrame2 * RVFrame1) (mind the order of the arguments ....) The redefinition as Twist2 * Frame1 would make things more consistent, but would break a LOT OF code and naming conventions...

Definition at line 137 of file jacobianframe.hpp.

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Member Typedef Documentation

typedef Twist KDL::BinaryOp< OpMult, Frame, Frame >::derivType

Definition at line 141 of file jacobianframe.hpp.

typedef Frame KDL::BinaryOp< OpMult, Frame, Frame >::exprType

Definition at line 139 of file jacobianframe.hpp.

typedef Frame KDL::BinaryOp< OpMult, Frame, Frame >::valueType

Definition at line 140 of file jacobianframe.hpp.

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Member Function Documentation

static INLINE2 derivType KDL::BinaryOp< OpMult, Frame, Frame >::derivCV	(	const Frame &	a,
		const Frame &	,
		const Twist &	db
	)		[inline, static]

Definition at line 151 of file jacobianframe.hpp.

static INLINE2 derivType KDL::BinaryOp< OpMult, Frame, Frame >::derivVC	(	const Frame &	a,
		const Twist &	da,
		const Frame &	b
	)		[inline, static]

Definition at line 157 of file jacobianframe.hpp.

static INLINE2 derivType KDL::BinaryOp< OpMult, Frame, Frame >::derivVV	(	const Frame &	a,
		const Twist &	da,
		const Frame &	b,
		const Twist &	db
	)		[inline, static]

Definition at line 145 of file jacobianframe.hpp.

static INLINE2 Frame KDL::BinaryOp< OpMult, Frame, Frame >::value	(	const Frame &	a,
		const Frame &	b
	)		[inline, static]

Definition at line 142 of file jacobianframe.hpp.

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

• jacobianframe.hpp