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Functions
IMETHOD Vector	addDelta (const Vector &a, const Vector &da, double dt)

IMETHOD Rotation	addDelta (const Rotation &a, const Vector &da, double dt)

IMETHOD Frame	addDelta (const Frame &a, const Twist &da, double dt)

IMETHOD Twist	addDelta (const Twist &a, const Twist &da, double dt)

IMETHOD Wrench	addDelta (const Wrench &a, const Wrench &da, double dt)

IMETHOD Vector	diff (const Vector &a, const Vector &b, double dt)

IMETHOD Vector	diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt)

IMETHOD Twist	diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt)

IMETHOD Twist	diff (const Twist &a, const Twist &b, double dt)

IMETHOD Wrench	diff (const Wrench &a, const Wrench &b, double dt)

IMETHOD double	dot (const Vector &lhs, const Vector &rhs)

IMETHOD double	dot (const Twist &lhs, const Wrench &rhs)

IMETHOD double	dot (const Wrench &rhs, const Twist &lhs)

IMETHOD bool	Equal (const Vector &a, const Vector &b, double eps)

IMETHOD bool	Equal (const Frame &a, const Frame &b, double eps)

IMETHOD bool	Equal (const Wrench &a, const Wrench &b, double eps)

IMETHOD bool	Equal (const Twist &a, const Twist &b, double eps)

IMETHOD bool	Equal (const Vector2 &a, const Vector2 &b, double eps)

IMETHOD bool	Equal (const Rotation2 &a, const Rotation2 &b, double eps)

IMETHOD bool	Equal (const Frame2 &a, const Frame2 &b, double eps)

IMETHOD bool	operator!= (const Frame &a, const Frame &b)

IMETHOD bool	operator!= (const Vector &a, const Vector &b)

IMETHOD bool	operator!= (const Twist &a, const Twist &b)

IMETHOD bool	operator!= (const Wrench &a, const Wrench &b)

IMETHOD bool	operator!= (const Rotation &a, const Rotation &b)

IMETHOD bool	operator!= (const Vector2 &a, const Vector2 &b)

Vector	operator* (const Vector &lhs, double rhs)

Vector	operator* (double lhs, const Vector &rhs)

Vector	operator* (const Vector &lhs, const Vector &rhs)

Wrench	operator* (const Wrench &lhs, double rhs)

Wrench	operator* (double lhs, const Wrench &rhs)

Twist	operator* (const Twist &lhs, double rhs)

Twist	operator* (double lhs, const Twist &rhs)

Twist	operator* (const Twist &lhs, const Twist &rhs)

Wrench	operator* (const Twist &lhs, const Wrench &rhs)

Frame	operator* (const Frame &lhs, const Frame &rhs)

IMETHOD Vector2	operator* (const Vector2 &lhs, double rhs)

IMETHOD Vector2	operator* (double lhs, const Vector2 &rhs)

IMETHOD Rotation2	operator* (const Rotation2 &lhs, const Rotation2 &rhs)

IMETHOD Frame2	operator* (const Frame2 &lhs, const Frame2 &rhs)

IMETHOD Vector	operator+ (const Vector &lhs, const Vector &rhs)

Wrench	operator+ (const Wrench &lhs, const Wrench &rhs)

Twist	operator+ (const Twist &lhs, const Twist &rhs)

IMETHOD Vector2	operator+ (const Vector2 &lhs, const Vector2 &rhs)

IMETHOD Vector	operator- (const Vector &lhs, const Vector &rhs)

Wrench	operator- (const Wrench &lhs, const Wrench &rhs)

Wrench	operator- (const Wrench &arg)

Twist	operator- (const Twist &lhs, const Twist &rhs)

Twist	operator- (const Twist &arg)

Vector	operator- (const Vector &arg)

IMETHOD Vector2	operator- (const Vector2 &lhs, const Vector2 &rhs)

IMETHOD Vector2	operator- (const Vector2 &arg)

Vector	operator/ (const Vector &lhs, double rhs)

Wrench	operator/ (const Wrench &lhs, double rhs)

Twist	operator/ (const Twist &lhs, double rhs)

IMETHOD Vector2	operator/ (const Vector2 &lhs, double rhs)

IMETHOD bool	operator== (const Frame &a, const Frame &b)

IMETHOD bool	operator== (const Vector &a, const Vector &b)

IMETHOD bool	operator== (const Twist &a, const Twist &b)

IMETHOD bool	operator== (const Wrench &a, const Wrench &b)

IMETHOD bool	operator== (const Vector2 &a, const Vector2 &b)

IMETHOD void	posrandom (Vector &a)

IMETHOD void	posrandom (Twist &a)

IMETHOD void	posrandom (Wrench &a)

IMETHOD void	posrandom (Rotation &R)

IMETHOD void	posrandom (Frame &F)

IMETHOD void	random (Vector &a)
	addDelta operator for displacement rotational velocity. More...

IMETHOD void	random (Twist &a)

IMETHOD void	random (Wrench &a)

IMETHOD void	random (Rotation &R)

IMETHOD void	random (Frame &F)

IMETHOD Rotation	Rot (const Vector &axis_a_b)

IMETHOD void	SetToZero (Vector &v)

IMETHOD void	SetToZero (Twist &v)

IMETHOD void	SetToZero (Wrench &v)

IMETHOD void	SetToZero (Vector2 &v)

Detailed Description

Inlined member functions and global functions that relate to the classes in frames.cpp

Definition in file frames.inl.

Function Documentation

◆ addDelta() [1/5]

IMETHOD Vector addDelta	(	const Vector &	a,
		const Vector &	da,
		double	dt
	)

Definition at line 1156 of file frames.inl.

◆ addDelta() [2/5]

IMETHOD Rotation addDelta	(	const Rotation &	a,
		const Vector &	da,
		double	dt
	)

Definition at line 1160 of file frames.inl.

◆ addDelta() [3/5]

IMETHOD Frame addDelta	(	const Frame &	a,
		const Twist &	da,
		double	dt
	)

Definition at line 1163 of file frames.inl.

◆ addDelta() [4/5]

IMETHOD Twist addDelta	(	const Twist &	a,
		const Twist &	da,
		double	dt
	)

Definition at line 1169 of file frames.inl.

◆ addDelta() [5/5]

IMETHOD Wrench addDelta	(	const Wrench &	a,
		const Wrench &	da,
		double	dt
	)

Definition at line 1172 of file frames.inl.

◆ diff() [1/5]

IMETHOD Vector diff	(	const Vector &	a,
		const Vector &	b,
		double	dt
	)

Definition at line 1129 of file frames.inl.

◆ diff() [2/5]

IMETHOD Vector diff	(	const Rotation &	R_a_b1,
		const Rotation &	R_a_b2,
		double	dt
	)

Definition at line 1133 of file frames.inl.

◆ diff() [3/5]

IMETHOD Twist diff	(	const Frame &	F_a_b1,
		const Frame &	F_a_b2,
		double	dt
	)

Definition at line 1138 of file frames.inl.

◆ diff() [4/5]

IMETHOD Twist diff	(	const Twist &	a,
		const Twist &	b,
		double	dt
	)

Definition at line 1144 of file frames.inl.

◆ diff() [5/5]

IMETHOD Wrench diff	(	const Wrench &	a,
		const Wrench &	b,
		double	dt
	)

Definition at line 1148 of file frames.inl.

◆ dot() [1/3]

IMETHOD double dot	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 1012 of file frames.inl.

◆ dot() [2/3]

IMETHOD double dot	(	const Twist &	lhs,
		const Wrench &	rhs
	)

Definition at line 1016 of file frames.inl.

◆ dot() [3/3]

IMETHOD double dot	(	const Wrench &	rhs,
		const Twist &	lhs
	)

Definition at line 1020 of file frames.inl.

◆ Equal() [1/7]

IMETHOD bool Equal	(	const Vector &	a,
		const Vector &	b,
		double	eps
	)

Definition at line 1032 of file frames.inl.

◆ Equal() [2/7]

IMETHOD bool Equal	(	const Frame &	a,
		const Frame &	b,
		double	eps
	)

Definition at line 1039 of file frames.inl.

◆ Equal() [3/7]

IMETHOD bool Equal	(	const Wrench &	a,
		const Wrench &	b,
		double	eps
	)

Definition at line 1044 of file frames.inl.

◆ Equal() [4/7]

IMETHOD bool Equal	(	const Twist &	a,
		const Twist &	b,
		double	eps
	)

Definition at line 1049 of file frames.inl.

◆ Equal() [5/7]

IMETHOD bool Equal	(	const Vector2 &	a,
		const Vector2 &	b,
		double	eps
	)

Definition at line 1054 of file frames.inl.

◆ Equal() [6/7]

IMETHOD bool Equal	(	const Rotation2 &	a,
		const Rotation2 &	b,
		double	eps
	)

Definition at line 1059 of file frames.inl.

◆ Equal() [7/7]

IMETHOD bool Equal	(	const Frame2 &	a,
		const Frame2 &	b,
		double	eps
	)

Definition at line 1063 of file frames.inl.

◆ operator!=() [1/6]

IMETHOD bool operator!=	(	const Frame &	a,
		const Frame &	b
	)

Definition at line 1284 of file frames.inl.

◆ operator!=() [2/6]

IMETHOD bool operator!=	(	const Vector &	a,
		const Vector &	b
	)

Definition at line 1298 of file frames.inl.

◆ operator!=() [3/6]

IMETHOD bool operator!=	(	const Twist &	a,
		const Twist &	b
	)

Definition at line 1311 of file frames.inl.

◆ operator!=() [4/6]

IMETHOD bool operator!=	(	const Wrench &	a,
		const Wrench &	b
	)

Definition at line 1324 of file frames.inl.

◆ operator!=() [5/6]

IMETHOD bool operator!=	(	const Rotation &	a,
		const Rotation &	b
	)

Definition at line 1327 of file frames.inl.

◆ operator!=() [6/6]

IMETHOD bool operator!=	(	const Vector2 &	a,
		const Vector2 &	b
	)

Definition at line 1340 of file frames.inl.

◆ operator*() [1/14]

Vector operator*	(	const Vector &	lhs,
		double	rhs
	)

Definition at line 83 of file frames.inl.

◆ operator*() [2/14]

Vector operator*	(	double	lhs,
		const Vector &	rhs
	)

Definition at line 92 of file frames.inl.

◆ operator*() [3/14]

Vector operator*	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 110 of file frames.inl.

◆ operator*() [4/14]

Wrench operator*	(	const Wrench &	lhs,
		double	rhs
	)

Definition at line 242 of file frames.inl.

◆ operator*() [5/14]

Wrench operator*	(	double	lhs,
		const Wrench &	rhs
	)

Definition at line 247 of file frames.inl.

◆ operator*() [6/14]

Twist operator*	(	const Twist &	lhs,
		double	rhs
	)

Definition at line 345 of file frames.inl.

◆ operator*() [7/14]

Twist operator*	(	double	lhs,
		const Twist &	rhs
	)

Definition at line 350 of file frames.inl.

◆ operator*() [8/14]

Twist operator*	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 379 of file frames.inl.

◆ operator*() [9/14]

Wrench operator*	(	const Twist &	lhs,
		const Wrench &	rhs
	)

Definition at line 383 of file frames.inl.

◆ operator*() [10/14]

Frame operator*	(	const Frame &	lhs,
		const Frame &	rhs
	)

Definition at line 406 of file frames.inl.

◆ operator*() [11/14]

IMETHOD Vector2 operator*	(	const Vector2 &	lhs,
		double	rhs
	)

Definition at line 755 of file frames.inl.

◆ operator*() [12/14]

IMETHOD Vector2 operator*	(	double	lhs,
		const Vector2 &	rhs
	)

Definition at line 760 of file frames.inl.

◆ operator*() [13/14]

IMETHOD Rotation2 operator*	(	const Rotation2 &	lhs,
		const Rotation2 &	rhs
	)

Definition at line 870 of file frames.inl.

◆ operator*() [14/14]

IMETHOD Frame2 operator*	(	const Frame2 &	lhs,
		const Frame2 &	rhs
	)

Definition at line 930 of file frames.inl.

◆ operator+() [1/4]

IMETHOD Vector operator+	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 57 of file frames.inl.

◆ operator+() [2/4]

Wrench operator+	(	const Wrench &	lhs,
		const Wrench &	rhs
	)

Definition at line 258 of file frames.inl.

◆ operator+() [3/4]

Twist operator+	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 361 of file frames.inl.

◆ operator+() [4/4]

IMETHOD Vector2 operator+	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)

Definition at line 745 of file frames.inl.

◆ operator-() [1/8]

IMETHOD Vector operator-	(	const Vector &	lhs,
		const Vector &	rhs
	)

Definition at line 66 of file frames.inl.

◆ operator-() [2/8]

Wrench operator-	(	const Wrench &	lhs,
		const Wrench &	rhs
	)

Definition at line 263 of file frames.inl.

◆ operator-() [3/8]

Wrench operator- ( const Wrench & arg )

Definition at line 269 of file frames.inl.

◆ operator-() [4/8]

Twist operator-	(	const Twist &	lhs,
		const Twist &	rhs
	)

Definition at line 366 of file frames.inl.

◆ operator-() [5/8]

Twist operator- ( const Twist & arg )

Definition at line 372 of file frames.inl.

◆ operator-() [6/8]

Vector operator- ( const Vector & arg )

Definition at line 449 of file frames.inl.

◆ operator-() [7/8]

IMETHOD Vector2 operator-	(	const Vector2 &	lhs,
		const Vector2 &	rhs
	)

Definition at line 750 of file frames.inl.

◆ operator-() [8/8]

IMETHOD Vector2 operator- ( const Vector2 & arg )

Definition at line 813 of file frames.inl.

◆ operator/() [1/4]

Vector operator/	(	const Vector &	lhs,
		double	rhs
	)

Definition at line 101 of file frames.inl.

◆ operator/() [2/4]

Wrench operator/	(	const Wrench &	lhs,
		double	rhs
	)

Definition at line 252 of file frames.inl.

◆ operator/() [3/4]

Twist operator/	(	const Twist &	lhs,
		double	rhs
	)

Definition at line 355 of file frames.inl.

◆ operator/() [4/4]

IMETHOD Vector2 operator/	(	const Vector2 &	lhs,
		double	rhs
	)

Definition at line 765 of file frames.inl.

◆ operator==() [1/5]

IMETHOD bool operator==	(	const Frame &	a,
		const Frame &	b
	)

Definition at line 1275 of file frames.inl.

◆ operator==() [2/5]

IMETHOD bool operator==	(	const Vector &	a,
		const Vector &	b
	)

Definition at line 1288 of file frames.inl.

◆ operator==() [3/5]

IMETHOD bool operator==	(	const Twist &	a,
		const Twist &	b
	)

Definition at line 1302 of file frames.inl.

◆ operator==() [4/5]

IMETHOD bool operator==	(	const Wrench &	a,
		const Wrench &	b
	)

Definition at line 1315 of file frames.inl.

◆ operator==() [5/5]

IMETHOD bool operator==	(	const Vector2 &	a,
		const Vector2 &	b
	)

Definition at line 1331 of file frames.inl.

◆ posrandom() [1/5]

IMETHOD void posrandom ( Vector & a )

Definition at line 1243 of file frames.inl.

◆ posrandom() [2/5]

IMETHOD void posrandom ( Twist & a )

Definition at line 1248 of file frames.inl.

◆ posrandom() [3/5]

IMETHOD void posrandom ( Wrench & a )

Definition at line 1252 of file frames.inl.

◆ posrandom() [4/5]

IMETHOD void posrandom ( Rotation & R )

Definition at line 1257 of file frames.inl.

◆ posrandom() [5/5]

IMETHOD void posrandom ( Frame & F )

Definition at line 1267 of file frames.inl.

◆ random() [1/5]

IMETHOD void random ( Vector & a )

addDelta operator for displacement rotational velocity.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters

a	: displacement rotational velocity
da	: rotational velocity

Returns: displacement rotational velocity

Warning: do not confuse displacement rotational velocities and velocities; do not confuse displacement twist and twist.

IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) { return getRot(addDelta(Rot(a),da,dt)); } addDelta operator for displacement twist.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters

a	: displacement twist
da	: twist

Returns: displacement twist

Warning: do not confuse displacement rotational velocities and velocities; do not confuse displacement twist and twist.

IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) { return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt)); }

Definition at line 1214 of file frames.inl.

◆ random() [2/5]

IMETHOD void random ( Twist & a )

Definition at line 1219 of file frames.inl.

◆ random() [3/5]

IMETHOD void random ( Wrench & a )

Definition at line 1223 of file frames.inl.

◆ random() [4/5]

IMETHOD void random ( Rotation & R )

Definition at line 1228 of file frames.inl.

◆ random() [5/5]

IMETHOD void random ( Frame & F )

Definition at line 1238 of file frames.inl.

◆ Rot()

IMETHOD Rotation Rot ( const Vector & axis_a_b )

axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame. This routine returns the rotation matrix R_a_b

Definition at line 1107 of file frames.inl.

◆ SetToZero() [1/4]

IMETHOD void SetToZero ( Vector & v )

Definition at line 1068 of file frames.inl.

◆ SetToZero() [2/4]

IMETHOD void SetToZero ( Twist & v )

Definition at line 1071 of file frames.inl.

◆ SetToZero() [3/4]

IMETHOD void SetToZero ( Wrench & v )

Definition at line 1075 of file frames.inl.

◆ SetToZero() [4/4]

IMETHOD void SetToZero ( Vector2 & v )

Definition at line 1080 of file frames.inl.

Functions

Detailed Description

Function Documentation

◆ addDelta() [1/5]

◆ addDelta() [2/5]

◆ addDelta() [3/5]

◆ addDelta() [4/5]

◆ addDelta() [5/5]

◆ diff() [1/5]

◆ diff() [2/5]

◆ diff() [3/5]

◆ diff() [4/5]

◆ diff() [5/5]

◆ dot() [1/3]

◆ dot() [2/3]

◆ dot() [3/3]

◆ Equal() [1/7]

◆ Equal() [2/7]

◆ Equal() [3/7]

◆ Equal() [4/7]

◆ Equal() [5/7]

◆ Equal() [6/7]

◆ Equal() [7/7]

◆ operator!=() [1/6]

◆ operator!=() [2/6]

◆ operator!=() [3/6]

◆ operator!=() [4/6]

◆ operator!=() [5/6]

◆ operator!=() [6/6]

◆ operator*() [1/14]

◆ operator*() [2/14]

◆ operator*() [3/14]

◆ operator*() [4/14]

◆ operator*() [5/14]

◆ operator*() [6/14]

◆ operator*() [7/14]

◆ operator*() [8/14]

◆ operator*() [9/14]

◆ operator*() [10/14]

◆ operator*() [11/14]

◆ operator*() [12/14]

◆ operator*() [13/14]

◆ operator*() [14/14]

◆ operator+() [1/4]

◆ operator+() [2/4]

◆ operator+() [3/4]

◆ operator+() [4/4]

◆ operator-() [1/8]

◆ operator-() [2/8]

◆ operator-() [3/8]

◆ operator-() [4/8]

◆ operator-() [5/8]

◆ operator-() [6/8]

◆ operator-() [7/8]

◆ operator-() [8/8]

◆ operator/() [1/4]

◆ operator/() [2/4]

◆ operator/() [3/4]

◆ operator/() [4/4]

◆ operator==() [1/5]

◆ operator==() [2/5]

◆ operator==() [3/5]

◆ operator==() [4/5]

◆ operator==() [5/5]

◆ posrandom() [1/5]

◆ posrandom() [2/5]

◆ posrandom() [3/5]

◆ posrandom() [4/5]

◆ posrandom() [5/5]

◆ random() [1/5]

◆ random() [2/5]

◆ random() [3/5]

◆ random() [4/5]

◆ random() [5/5]

◆ Rot()

◆ SetToZero() [1/4]

◆ SetToZero() [2/4]

◆ SetToZero() [3/4]

◆ SetToZero() [4/4]