KDL::TwistAcc Class Reference

#include <frameacc.hpp>

Public Member Functions
	TwistAcc ()
	TwistAcc (const VectorAcc &_vel, const VectorAcc &_rot)
IMETHOD TwistAcc &	operator-= (const TwistAcc &arg)
IMETHOD TwistAcc &	operator+= (const TwistAcc &arg)
IMETHOD void	ReverseSign ()
IMETHOD TwistAcc	RefPoint (const VectorAcc &v_base_AB)
IMETHOD Twist	GetTwist () const
IMETHOD Twist	GetTwistDot () const

Static Public Member Functions
static IMETHOD TwistAcc	Zero ()

Public Attributes
VectorAcc	vel
	translational velocity and its 1st and 2nd derivative
VectorAcc	rot
	rotational velocity and its 1st and 2nd derivative

Friends
class	RotationAcc
class	FrameAcc
IMETHOD friend TwistAcc	operator* (const TwistAcc &lhs, double rhs)
IMETHOD friend TwistAcc	operator* (double lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc	operator/ (const TwistAcc &lhs, double rhs)
IMETHOD friend TwistAcc	operator* (const TwistAcc &lhs, const doubleAcc &rhs)
IMETHOD friend TwistAcc	operator* (const doubleAcc &lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc	operator/ (const TwistAcc &lhs, const doubleAcc &rhs)
IMETHOD friend TwistAcc	operator+ (const TwistAcc &lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc	operator- (const TwistAcc &lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc	operator- (const TwistAcc &arg)
IMETHOD friend void	SetToZero (TwistAcc &v)
IMETHOD friend bool	Equal (const TwistAcc &a, const TwistAcc &b, double eps=epsilon)
IMETHOD friend bool	Equal (const Twist &a, const TwistAcc &b, double eps=epsilon)
IMETHOD friend bool	Equal (const TwistAcc &a, const Twist &b, double eps=epsilon)

Detailed Description

Definition at line 190 of file frameacc.hpp.

Constructor & Destructor Documentation

TwistAcc() [1/2]

KDL::TwistAcc::TwistAcc ( )

inline

Definition at line 197 of file frameacc.hpp.

TwistAcc() [2/2]

KDL::TwistAcc::TwistAcc ( const VectorAcc & _vel, const VectorAcc & _rot )

inline

Definition at line 198 of file frameacc.hpp.

Member Function Documentation

GetTwist()

Twist TwistAcc::GetTwist

(

)

const

Definition at line 576 of file frameacc.inl.

References rot.

GetTwistDot()

Twist TwistAcc::GetTwistDot

(

)

const

Definition at line 580 of file frameacc.inl.

References rot.

operator+=()

TwistAcc & TwistAcc::operator+=

(

const TwistAcc &

arg

)

Definition at line 461 of file frameacc.inl.

References rot, rot, and vel.

operator-=()

TwistAcc & TwistAcc::operator-=

(

const TwistAcc &

arg

)

Definition at line 454 of file frameacc.inl.

References rot, rot, and vel.

RefPoint()

TwistAcc TwistAcc::RefPoint

(

const VectorAcc &

v_base_AB

)

Definition at line 444 of file frameacc.inl.

References rot.

ReverseSign()

void TwistAcc::ReverseSign

(

)

Definition at line 438 of file frameacc.inl.

References rot.

Zero()

TwistAcc TwistAcc::Zero ( )

static

Definition at line 432 of file frameacc.inl.

Friends And Related Symbol Documentation

Equal [1/3]

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

friend

Equal [2/3]

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

friend

Equal [3/3]

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

friend

FrameAcc

friend class FrameAcc

friend

Definition at line 237 of file frameacc.hpp.

operator* [1/4]

IMETHOD friend TwistAcc operator* ( const doubleAcc & lhs, const TwistAcc & rhs )

friend

operator* [2/4]

IMETHOD friend TwistAcc operator* ( const TwistAcc & lhs, const doubleAcc & rhs )

friend

operator* [3/4]

IMETHOD friend TwistAcc operator* ( const TwistAcc & lhs, double rhs )

friend

operator* [4/4]

IMETHOD friend TwistAcc operator* ( double lhs, const TwistAcc & rhs )

friend

operator+

IMETHOD friend TwistAcc operator+ ( const TwistAcc & lhs, const TwistAcc & rhs )

friend

operator- [1/2]

IMETHOD friend TwistAcc operator- ( const TwistAcc & arg )

friend

operator- [2/2]

IMETHOD friend TwistAcc operator- ( const TwistAcc & lhs, const TwistAcc & rhs )

friend

operator/ [1/2]

IMETHOD friend TwistAcc operator/ ( const TwistAcc & lhs, const doubleAcc & rhs )

friend

operator/ [2/2]

IMETHOD friend TwistAcc operator/ ( const TwistAcc & lhs, double rhs )

friend

RotationAcc

friend class RotationAcc

friend

Definition at line 236 of file frameacc.hpp.

SetToZero

IMETHOD friend void SetToZero ( TwistAcc & v )

friend

Member Data Documentation

rot

VectorAcc KDL::TwistAcc::rot

rotational velocity and its 1st and 2nd derivative

Definition at line 194 of file frameacc.hpp.

Referenced by KDL::FrameAcc::Inverse(), KDL::FrameAcc::Inverse(), KDL::RotationAcc::Inverse(), KDL::FrameAcc::operator*(), KDL::FrameAcc::operator*(), KDL::RotationAcc::operator*(), operator+=(), and operator-=().

vel

VectorAcc KDL::TwistAcc::vel

translational velocity and its 1st and 2nd derivative

Definition at line 193 of file frameacc.hpp.

Referenced by KDL::FrameAcc::Inverse(), KDL::FrameAcc::Inverse(), KDL::RotationAcc::Inverse(), KDL::FrameAcc::operator*(), KDL::FrameAcc::operator*(), KDL::RotationAcc::operator*(), operator+=(), and operator-=().

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

• frameacc.hpp
• frameacc.inl