KDL::UnaryOp< OpInverse, 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 Twist	deriv (const Frame &a, const Twist &da)
static INLINE2 Frame	value (const Frame &F)

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Detailed Description

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

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 112 of file jacobianframe.hpp.

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Member Typedef Documentation

typedef Twist KDL::UnaryOp< OpInverse, Frame >::derivType

Definition at line 116 of file jacobianframe.hpp.

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

Definition at line 114 of file jacobianframe.hpp.

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

Definition at line 115 of file jacobianframe.hpp.

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Member Function Documentation

static INLINE2 Twist KDL::UnaryOp< OpInverse, Frame >::deriv	(	const Frame &	a,
		const Twist &	da
	)		[inline, static]

Definition at line 120 of file jacobianframe.hpp.

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

(

const Frame &

F

)

[inline, static]

Definition at line 117 of file jacobianframe.hpp.

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

• jacobianframe.hpp