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iTaSC::Twist Class Reference

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.
 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)
double operator() (int i) const
 index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist
double operator[] (int index) const
double & operator[] (int index)
void ReverseSign ()
 Reverses the sign of the twist.
Twist RefPoint (const Vector &v_base_AB) const
 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.

Static Public Member Functions

static Twist Zero ()

Public Attributes

Vector vel
 The velocity of that point.
Vector rot
 The rotational velocity of that point.

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=epsilon)
 do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
bool operator== (const Twist &a, const Twist &b)
 The literal equality operator==(), also identical.
bool operator!= (const Twist &a, const Twist &b)
 The literal inequality operator!=().

Detailed Description

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.

Constructor & Destructor Documentation

◆ Twist() [1/2]

KDL::Twist::Twist ( )
inline

The default constructor initialises to Zero via the constructor of Vector.

Definition at line 686 of file frames.hpp.

◆ Twist() [2/2]

KDL::Twist::Twist ( const Vector & _vel,
const Vector & _rot )
inline

Definition at line 688 of file frames.hpp.

Member Function Documentation

◆ operator()() [1/2]

double & Twist::operator() ( int i)
inline

index-based access to components, first vel(0..2), then rot(3..5)

Definition at line 347 of file frames.hpp.

◆ operator()() [2/2]

double Twist::operator() ( int i) const
inline

index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist

Definition at line 356 of file frames.hpp.

◆ operator+=()

Twist & Twist::operator+= ( const Twist & arg)
inline

Definition at line 340 of file frames.hpp.

◆ operator-=()

Twist & Twist::operator-= ( const Twist & arg)
inline

Definition at line 333 of file frames.hpp.

◆ operator[]() [1/2]

double & KDL::Twist::operator[] ( int index)
inline

Definition at line 704 of file frames.hpp.

◆ operator[]() [2/2]

double KDL::Twist::operator[] ( int index) const
inline

Definition at line 699 of file frames.hpp.

◆ RefPoint()

Twist Twist::RefPoint ( const Vector & v_base_AB) const
inline

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 323 of file frames.hpp.

◆ ReverseSign()

void Twist::ReverseSign ( )
inline

Reverses the sign of the twist.

Definition at line 317 of file frames.hpp.

◆ Zero()

Twist Twist::Zero ( )
inlinestatic
Returns
a zero Twist : Twist(Vector::Zero(),Vector::Zero())

Definition at line 311 of file frames.hpp.

Referenced by iTaSC::MovingFrame::updateCoordinates().

◆ dot [1/2]

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

Definition at line 1053 of file frames.hpp.

◆ dot [2/2]

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

Definition at line 1057 of file frames.hpp.

◆ Equal

bool Equal ( const Twist & a,
const Twist & b,
double eps = epsilon )
friend

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

Definition at line 1086 of file frames.hpp.

◆ Frame

friend class Frame
friend

Definition at line 746 of file frames.hpp.

◆ operator!=

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

The literal inequality operator!=().

Definition at line 1380 of file frames.hpp.

◆ operator* [1/2]

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

Definition at line 366 of file frames.hpp.

◆ operator* [2/2]

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

Definition at line 371 of file frames.hpp.

◆ operator+

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

Definition at line 382 of file frames.hpp.

◆ operator- [1/2]

Twist operator- ( const Twist & arg)
friend

Definition at line 393 of file frames.hpp.

◆ operator- [2/2]

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

Definition at line 387 of file frames.hpp.

◆ operator/

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

Definition at line 376 of file frames.hpp.

◆ operator==

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

The literal equality operator==(), also identical.

Definition at line 1371 of file frames.hpp.

◆ Rotation

friend class Rotation
friend

Definition at line 745 of file frames.hpp.

◆ SetToZero

void SetToZero ( Twist & v)
friend

Definition at line 1108 of file frames.hpp.

Member Data Documentation

◆ rot

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 682 of file frames.hpp.

◆ vel

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 681 of file frames.hpp.

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