Blender
V3.3
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represents both translational and rotational velocities. More...
#include <frames.hpp>
Public Member Functions | |
Twist () | |
The default constructor initialises to Zero via the constructor of Vector. More... | |
Twist (const Vector &_vel, const Vector &_rot) | |
Twist & | operator-= (const Twist &arg) |
Twist & | operator+= (const Twist &arg) |
double & | operator() (int i) |
index-based access to components, first vel(0..2), then rot(3..5) More... | |
double | operator() (int i) const |
double | operator[] (int index) const |
double & | operator[] (int index) |
void | ReverseSign () |
Reverses the sign of the twist. More... | |
Twist | RefPoint (const Vector &v_base_AB) const |
Static Public Member Functions | |
static Twist | Zero () |
Public Attributes | |
Vector | vel |
The velocity of that point. More... | |
Vector | rot |
The rotational velocity of that point. More... | |
Friends | |
class | Rotation |
class | Frame |
Twist | operator* (const Twist &lhs, double rhs) |
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 &lhs, const Twist &rhs) |
Twist | operator- (const Twist &arg) |
double | dot (const Twist &lhs, const Wrench &rhs) |
double | dot (const Wrench &rhs, const Twist &lhs) |
void | SetToZero (Twist &v) |
bool | Equal (const Twist &a, const Twist &b, double eps) |
bool | operator== (const Twist &a, const Twist &b) |
The literal equality operator==(), also identical. More... | |
bool | operator!= (const Twist &a, const Twist &b) |
The literal inequality operator!=(). More... | |
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 679 of file frames.hpp.
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The default constructor initialises to Zero via the constructor of Vector.
Definition at line 686 of file frames.hpp.
Definition at line 688 of file frames.hpp.
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index-based access to components, first vel(0..2), then rot(3..5)
Definition at line 346 of file frames.inl.
References rot.
Referenced by operator[]().
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index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist
Definition at line 355 of file frames.inl.
References rot.
Definition at line 339 of file frames.inl.
Definition at line 332 of file frames.inl.
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Definition at line 704 of file frames.hpp.
References operator()().
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Definition at line 699 of file frames.hpp.
References operator()().
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 322 of file frames.inl.
References rot.
Referenced by iTaSC::ConstraintSet::closeLoop(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::Segment::twist().
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inlinestatic |
Definition at line 310 of file frames.inl.
Referenced by KDL::Joint::twist(), and iTaSC::MovingFrame::updateCoordinates().
do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
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Definition at line 746 of file frames.hpp.
The literal inequality operator!=().
The literal equality operator==(), also identical.
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friend |
Definition at line 745 of file frames.hpp.
Vector KDL::Twist::rot |
The rotational velocity of that point.
Definition at line 682 of file frames.hpp.
Referenced by iTaSC::Armature::getMaxEndEffectorChange(), KDL::Frame::Integrate(), KDL::RotationAcc::Inverse(), KDL::FrameAcc::Inverse(), KDL::Rotation::Inverse(), KDL::Frame::Inverse(), KDL::RotationVel::Inverse(), KDL::FrameVel::Inverse(), KDL::RotationAcc::operator*(), KDL::FrameAcc::operator*(), KDL::Frame::operator*(), KDL::RotationVel::operator*(), KDL::FrameVel::operator*(), operator+=(), and operator-=().
Vector KDL::Twist::vel |
The velocity of that point.
Definition at line 681 of file frames.hpp.
Referenced by iTaSC::Armature::getMaxEndEffectorChange(), KDL::Frame::Integrate(), KDL::RotationAcc::Inverse(), KDL::FrameAcc::Inverse(), KDL::Rotation::Inverse(), KDL::Frame::Inverse(), KDL::RotationVel::Inverse(), KDL::FrameVel::Inverse(), KDL::RotationAcc::operator*(), KDL::FrameAcc::operator*(), KDL::Frame::operator*(), KDL::RotationVel::operator*(), KDL::FrameVel::operator*(), operator+=(), and operator-=().