34 M(in.
M),joint(in.joint),
53 return joint.
pose(q)*f_tip;
represents a frame transformation in 3D space (rotation + translation)
Rotation M
Orientation of the Frame.
Vector p
origine of the Frame
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Twist twist(const double &qdot, int dof=0) const
Frame pose(const double *q) const
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with...
Segment & operator=(const Segment &arg)
Frame pose(const double *q) const
Twist twist(const double *q, const double &qdot, int dof=0) const
Segment(const Joint &joint=Joint(), const Frame &f_tip=Frame::Identity(), const Inertia &M=Inertia::Zero())
represents both translational and rotational velocities.
Twist RefPoint(const Vector &v_base_AB) const
A concrete implementation of a 3 dimensional vector class.