KDL::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
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

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)
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 346 of file frames.inl.

References rot.

Referenced by operator[](), and operator[]().

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 355 of file frames.inl.

References rot.

operator+=()

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

inline

Definition at line 339 of file frames.inl.

References rot, rot, and vel.

operator-=()

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

inline

Definition at line 332 of file frames.inl.

References rot, rot, and vel.

operator[]() [1/2]

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

inline

Definition at line 704 of file frames.hpp.

References operator()().

operator[]() [2/2]

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

inline

Definition at line 699 of file frames.hpp.

References operator()().

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 322 of file frames.inl.

References rot.

Referenced by iTaSC::ConstraintSet::closeLoop(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), KDL::Segment::twist(), KDL::Segment::twist(), and KDL::Segment::twist().

ReverseSign()

void Twist::ReverseSign ( )

inline

Reverses the sign of the twist.

Definition at line 316 of file frames.inl.

References rot.

Zero()

Twist Twist::Zero ( )

inlinestatic

Returns

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

Definition at line 310 of file frames.inl.

Referenced by KDL::Joint::twist(), and iTaSC::MovingFrame::updateCoordinates().

Friends And Related Symbol Documentation

dot [1/2]

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

friend

dot [2/2]

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

friend

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

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!=().

operator* [1/2]

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

friend

operator* [2/2]

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

friend

operator+

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

friend

operator- [1/2]

Twist operator- ( const Twist & arg )

friend

operator- [2/2]

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

friend

operator/

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

friend

operator==

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

friend

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

Rotation

friend class Rotation

friend

Definition at line 745 of file frames.hpp.

SetToZero

void SetToZero ( Twist & v )

friend

Member Data Documentation

rot

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 682 of file frames.hpp.

Referenced by KDL::Frame::Integrate(), KDL::Frame::Inverse(), KDL::FrameAcc::Inverse(), KDL::FrameVel::Inverse(), KDL::Rotation::Inverse(), KDL::RotationAcc::Inverse(), KDL::RotationVel::Inverse(), KDL::Frame::operator*(), KDL::FrameAcc::operator*(), KDL::FrameVel::operator*(), KDL::RotationAcc::operator*(), KDL::RotationVel::operator*(), operator+=(), and operator-=().

vel

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 681 of file frames.hpp.

Referenced by KDL::Frame::Integrate(), KDL::Frame::Inverse(), KDL::FrameAcc::Inverse(), KDL::FrameVel::Inverse(), KDL::Rotation::Inverse(), KDL::RotationAcc::Inverse(), KDL::RotationVel::Inverse(), KDL::Frame::operator*(), KDL::FrameAcc::operator*(), KDL::FrameVel::operator*(), KDL::RotationAcc::operator*(), KDL::RotationVel::operator*(), operator+=(), and operator-=().

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

• frames.hpp
• frames.inl