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) const
double &	operator() (int i)
	index-based access to components, first vel(0..2), then rot(3..5)
Twist &	operator+= (const Twist &arg)
Twist &	operator-= (const Twist &arg)
double &	operator[] (int index)
double	operator[] (int index) const
Twist	RefPoint (const Vector &v_base_AB) const
void	ReverseSign ()
	Reverses the sign of the twist.
	Twist (const Vector &_vel, const Vector &_rot)
	Twist ()
	The default constructor initialises to Zero via the constructor of Vector.
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 Wrench &rhs, const Twist &lhs)
double	dot (const Twist &lhs, const Wrench &rhs)
bool	Equal (const Twist &a, const Twist &b, double eps=epsilon)
class	Frame
bool	operator!= (const Twist &a, const Twist &b)
	The literal inequality operator!=().
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)
	Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.
Twist	operator* (double lhs, const Twist &rhs)
Twist	operator* (const Twist &lhs, double rhs)
Twist	operator+ (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &arg)
Twist	operator- (const Twist &lhs, const Twist &rhs)
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)

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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 711 of file frames.hpp.

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Constructor & Destructor Documentation

KDL::Twist::Twist

(

)

[inline]

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

Definition at line 718 of file frames.hpp.

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

Definition at line 720 of file frames.hpp.

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Member Function Documentation

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

Definition at line 336 of file frames.cpp.

double & KDL::Twist::operator()

(

int

i

)

[inline]

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

Definition at line 327 of file frames.cpp.

Twist & KDL::Twist::operator+=

(

const Twist &

arg

)

[inline]

Definition at line 320 of file frames.cpp.

Twist & KDL::Twist::operator-=

(

const Twist &

arg

)

[inline]

Definition at line 313 of file frames.cpp.

double& KDL::Twist::operator[]

(

int

index

)

[inline]

Definition at line 736 of file frames.hpp.

double KDL::Twist::operator[]

(

int

index

)

const [inline]

Definition at line 731 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

Definition at line 303 of file frames.cpp.

void KDL::Twist::ReverseSign

(

)

[inline]

Reverses the sign of the twist.

Definition at line 297 of file frames.cpp.

Twist KDL::Twist::Zero

(

)

[inline, static]

Returns:

a zero Twist : Twist(Vector::Zero(),Vector::Zero())

Definition at line 291 of file frames.cpp.

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Friends And Related Function Documentation

double dot	(	const Wrench &	rhs,
		const Twist &	lhs
	)			[friend]

Definition at line 1014 of file frames.cpp.

double dot	(	const Twist &	lhs,
		const Wrench &	rhs
	)			[friend]

Definition at line 1010 of file frames.cpp.

bool Equal	(	const Twist &	a,
		const Twist &	b,
		double	eps = epsilon
	)			[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

Definition at line 1043 of file frames.cpp.

friend class Frame [friend]

Definition at line 781 of file frames.hpp.

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

The literal inequality operator!=().

Definition at line 1305 of file frames.cpp.

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.

Definition at line 384 of file frames.cpp.

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.

Definition at line 380 of file frames.cpp.

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

Definition at line 351 of file frames.cpp.

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

Definition at line 346 of file frames.cpp.

Twist operator+	(	const Twist &	lhs,
		const Twist &	rhs
	)			[friend]

Definition at line 362 of file frames.cpp.

Twist operator-

(

const Twist &

arg

)

[friend]

Definition at line 373 of file frames.cpp.

Twist operator-	(	const Twist &	lhs,
		const Twist &	rhs
	)			[friend]

Definition at line 367 of file frames.cpp.

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

Definition at line 356 of file frames.cpp.

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

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

Definition at line 1296 of file frames.cpp.

friend class Rotation [friend]

Definition at line 780 of file frames.hpp.

void SetToZero

(

Twist &

v

)

[friend]

Definition at line 1065 of file frames.cpp.

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Member Data Documentation

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 714 of file frames.hpp.

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 713 of file frames.hpp.

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

• frames.hpp
• frames.cpp