KDL::UnaryOp< OpInverse, FrameVel > Class Template Reference

#include <jacobianframevel.hpp>

List of all members.

Public Types
typedef TwistVel	derivType
typedef FrameVel	exprType
typedef Frame	valueType
Static Public Member Functions
static INLINE2 TwistVel	deriv (const Frame &_a, const TwistVel &da)
static INLINE2 Frame	value (const Frame &F)

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Detailed Description

template<>
class KDL::UnaryOp< OpInverse, FrameVel >

Inverse : derivative of R' is (derivative of R)' is [wx]', is [(-w)x]

(1) X2 = R*X1 + p derivative is w*X1 + R*X1dot + pdot (2) X1 = R'*(X2-p) derivative is (-w)x X2 + R'* X2dot + w x p - R'*pdot compare (1) to (2) derive : R2 = R' p2 = -R'*p w2 = -w p2dot = w x p - R'*pdot

Definition at line 118 of file jacobianframevel.hpp.

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Member Typedef Documentation

typedef TwistVel KDL::UnaryOp< OpInverse, FrameVel >::derivType

Definition at line 122 of file jacobianframevel.hpp.

typedef FrameVel KDL::UnaryOp< OpInverse, FrameVel >::exprType

Definition at line 120 of file jacobianframevel.hpp.

typedef Frame KDL::UnaryOp< OpInverse, FrameVel >::valueType

Definition at line 121 of file jacobianframevel.hpp.

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Member Function Documentation

static INLINE2 TwistVel KDL::UnaryOp< OpInverse, FrameVel >::deriv	(	const Frame &	_a,
		const TwistVel &	da
	)		[inline, static]

Definition at line 126 of file jacobianframevel.hpp.

static INLINE2 Frame KDL::UnaryOp< OpInverse, FrameVel >::value

(

const Frame &

F

)

[inline, static]

Definition at line 123 of file jacobianframevel.hpp.

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

• jacobianframevel.hpp