16 return Wrench( force, torque );
21 return Twist( trans, rot );
33 :
public std::binary_function<WT,int,double>
37 if (index > 5 || index <0)
45 :
public std::binary_function<Vector, int, double>
49 if (index > 2 || index <0)
59 :
public std::unary_function<Vector, double>
68 :
public std::unary_function<Twist, Vector>
77 :
public std::unary_function<Twist, Vector>
86 :
public std::unary_function<Wrench, Vector>
95 :
public std::unary_function<Wrench, Vector>
104 :
public std::unary_function<Frame, Vector>
113 :
public std::unary_function<Frame, Rotation>
122 :
public std::unary_function<Frame, Frame>
131 :
public std::unary_function<Rotation, double>
142 :
public std::unary_function<Rotation, double>
153 :
public std::unary_function<Rotation, double>
164 :
public std::unary_function<Rotation, Rotation>
179 TypeInfoRepository::shared_ptr ti = TypeInfoRepository::Instance();
191 gs->provides(
"KDL")->provides(
"Rotation")->addOperation(
"RotX",&
Rotation::RotX).doc(
"");
192 gs->provides(
"KDL")->provides(
"Rotation")->addOperation(
"RotY",&
Rotation::RotY).doc(
"");
193 gs->provides(
"KDL")->provides(
"Rotation")->addOperation(
"RotZ",&
Rotation::RotZ).doc(
"");
194 gs->provides(
"KDL")->provides(
"Rotation")->addOperation(
"RPY",&
Rotation::RPY).doc(
"");
195 gs->provides(
"KDL")->provides(
"Rotation")->addOperation(
"EulerZYX",&
Rotation::EulerZYX).doc(
"");
196 gs->provides(
"KDL")->provides(
"Rotation")->addOperation(
"EulerZYZ",&
Rotation::EulerZYZ).doc(
"");
197 gs->provides(
"KDL")->provides(
"Rotation")->addOperation(
"Quaternion",&
Rotation::Quaternion).doc(
"");
Frame framerv(const Rotation &r, const Vector &v)
Vector operator()(const Wrench &t) const
virtual bool loadConstructors()
static Rotation RotX(double angle)
pointer_to_ternary_function< ResultT, Arg1T, Arg2T, Arg3T > ptr_fun(ResultT(*fun)(Arg1T, Arg2T, Arg3T))
Twist twistvw(const Vector &trans, const Vector &rot)
double operator()(WT &w, int index) const
static Rotation RotZ(double angle)
Vector operator()(const Frame &f) const
static Rotation Quaternion(double x, double y, double z, double w)
double operator()(const Rotation &rot) const
static Rotation RotY(double angle)
Rotation operator()(const Rotation &rot) const
Vector operator()(const Twist &t) const
static Rotation EulerZYX(double Alfa, double Beta, double Gamma)
boost::shared_ptr< Service > shared_ptr
Wrench wrenchft(const Vector &force, const Vector &torque)
TypeConstructor * newConstructor(Function *foo, bool automatic=false)
static Rotation RPY(double roll, double pitch, double yaw)
Rotation operator()(const Frame &f) const
Frame operator()(const Frame &f) const
Vector vectorxyz(double a, double b, double c)
Vector operator()(const Twist &t) const
Frame framevr(const Vector &v, const Rotation &r)
double operator()(const Vector &v) const
double operator()(const Rotation &rot) const
Vector operator()(const Wrench &t) const
void GetRPY(double &roll, double &pitch, double &yaw) const
double operator()(const Rotation &rot) const
static Rotation EulerZYZ(double Alfa, double Beta, double Gamma)
double operator()(Vector &v, int index) const
static Rotation Rot(const Vector &rotvec, double angle)
Rotation rotationAngleAxis(const Vector &axis, double angle)
static RTT_API Service::shared_ptr Instance()