Public Member Functions | Static Public Member Functions | Public Attributes | Friends
KDL::Twist Class Reference

represents both translational and rotational velocities. More...

#include <frames.hpp>

List of all members.

Public Member Functions

double & operator() (int i)
 index-based access to components, first vel(0..2), then rot(3..5)
double operator() (int i) const
Twistoperator+= (const Twist &arg)
Twistoperator-= (const Twist &arg)
double operator[] (int index) const
double & operator[] (int index)
Twist RefPoint (const Vector &v_base_AB) const
void ReverseSign ()
 Reverses the sign of the twist.
 Twist ()
 The default constructor initialises to Zero via the constructor of Vector.
 Twist (const Vector &_vel, const Vector &_rot)

Static Public Member Functions

static Twist Zero ()

Public Attributes

Vector rot
 The rotational velocity of that point.
Vector vel
 The velocity of that point.

Friends

double dot (const Twist &lhs, const Wrench &rhs)
double dot (const Wrench &rhs, const Twist &lhs)
bool Equal (const Twist &a, const Twist &b, double eps)
class Frame
bool operator!= (const Twist &a, const Twist &b)
 The literal inequality operator!=().
Twist operator* (const Twist &lhs, double rhs)
Twist operator* (double lhs, const Twist &rhs)
Twist operator* (const Twist &lhs, const Twist &rhs)
 Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.
Wrench operator* (const Twist &lhs, const Wrench &rhs)
 Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.
Twist operator+ (const Twist &lhs, const Twist &rhs)
Twist operator- (const Twist &lhs, const Twist &rhs)
Twist operator- (const Twist &arg)
Twist operator/ (const Twist &lhs, double rhs)
bool operator== (const Twist &a, const Twist &b)
 The literal equality operator==(), also identical.
class Rotation
void SetToZero (Twist &v)

Detailed Description

represents both translational and rotational velocities.

This class represents a twist. A twist is the combination of translational velocity and rotational velocity applied at one point.

Definition at line 720 of file frames.hpp.


Constructor & Destructor Documentation

KDL::Twist::Twist ( ) [inline]

The default constructor initialises to Zero via the constructor of Vector.

Definition at line 727 of file frames.hpp.

KDL::Twist::Twist ( const Vector _vel,
const Vector _rot 
) [inline]

Definition at line 729 of file frames.hpp.


Member Function Documentation

double& KDL::Twist::operator() ( int  i) [inline]

index-based access to components, first vel(0..2), then rot(3..5)

double KDL::Twist::operator() ( int  i) const [inline]

index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist

Twist& KDL::Twist::operator+= ( const Twist arg) [inline]
Twist& KDL::Twist::operator-= ( const Twist arg) [inline]
double KDL::Twist::operator[] ( int  index) const [inline]

Definition at line 740 of file frames.hpp.

double& KDL::Twist::operator[] ( int  index) [inline]

Definition at line 745 of file frames.hpp.

Twist KDL::Twist::RefPoint ( const Vector v_base_AB) const [inline]

Changes the reference point of the twist. The vector v_base_AB is expressed in the same base as the twist The vector v_base_AB is a vector from the old point to the new point.

Complexity : 6M+6A

void KDL::Twist::ReverseSign ( ) [inline]

Reverses the sign of the twist.

static Twist KDL::Twist::Zero ( ) [inline, static]

Friends And Related Function Documentation

double dot ( const Twist lhs,
const Wrench rhs 
) [friend]
double dot ( const Wrench rhs,
const Twist lhs 
) [friend]
bool Equal ( const Twist a,
const Twist b,
double  eps 
) [friend]

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

friend class Frame [friend]

Definition at line 790 of file frames.hpp.

bool operator!= ( const Twist a,
const Twist b 
) [friend]

The literal inequality operator!=().

Twist operator* ( const Twist lhs,
double  rhs 
) [friend]
Twist operator* ( double  lhs,
const Twist rhs 
) [friend]
Twist operator* ( const Twist lhs,
const Twist rhs 
) [friend]

Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.

Wrench operator* ( const Twist lhs,
const Wrench rhs 
) [friend]

Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.

Twist operator+ ( const Twist lhs,
const Twist rhs 
) [friend]
Twist operator- ( const Twist lhs,
const Twist rhs 
) [friend]
Twist operator- ( const Twist arg) [friend]
Twist operator/ ( const Twist lhs,
double  rhs 
) [friend]
bool operator== ( const Twist a,
const Twist b 
) [friend]

The literal equality operator==(), also identical.

friend class Rotation [friend]

Definition at line 789 of file frames.hpp.

void SetToZero ( Twist v) [friend]

Member Data Documentation

The rotational velocity of that point.

Definition at line 723 of file frames.hpp.

The velocity of that point.

Definition at line 722 of file frames.hpp.


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


orocos_kdl
Author(s):
autogenerated on Sat Mar 24 2018 04:06:17