KDL::RotationAcc Class Reference

#include <frameacc.hpp>

Public Member Functions
	RotationAcc ()
	RotationAcc (const Rotation &R_)
	RotationAcc (const Rotation &R_, const Vector &_w, const Vector &_dw)
IMETHOD RotationAcc &	operator= (const RotationAcc &arg)
IMETHOD RotationAcc &	operator= (const Rotation &arg)
IMETHOD RotationAcc	Inverse () const
IMETHOD VectorAcc	Inverse (const VectorAcc &arg) const
IMETHOD VectorAcc	Inverse (const Vector &arg) const
IMETHOD VectorAcc	operator* (const VectorAcc &arg) const
IMETHOD VectorAcc	operator* (const Vector &arg) const
IMETHOD TwistAcc	Inverse (const TwistAcc &arg) const
IMETHOD TwistAcc	Inverse (const Twist &arg) const
IMETHOD TwistAcc	operator* (const TwistAcc &arg) const
IMETHOD TwistAcc	operator* (const Twist &arg) const

Static Public Member Functions
static IMETHOD RotationAcc	Identity ()

Public Attributes
Rotation	R
	rotation matrix
Vector	w
	angular velocity vector
Vector	dw
	angular acceration vector

Friends
IMETHOD friend RotationAcc	operator* (const RotationAcc &r1, const RotationAcc &r2)
IMETHOD friend RotationAcc	operator* (const Rotation &r1, const RotationAcc &r2)
IMETHOD friend RotationAcc	operator* (const RotationAcc &r1, const Rotation &r2)
IMETHOD friend bool	Equal (const RotationAcc &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD friend bool	Equal (const Rotation &r1, const RotationAcc &r2, double eps=epsilon)
IMETHOD friend bool	Equal (const RotationAcc &r1, const Rotation &r2, double eps=epsilon)

Detailed Description

Definition at line 91 of file frameacc.hpp.

Constructor & Destructor Documentation

RotationAcc() [1/3]

KDL::RotationAcc::RotationAcc ( )

inline

Definition at line 98 of file frameacc.hpp.

RotationAcc() [2/3]

KDL::RotationAcc::RotationAcc ( const Rotation & R_ )

inlineexplicit

Definition at line 99 of file frameacc.hpp.

RotationAcc() [3/3]

KDL::RotationAcc::RotationAcc ( const Rotation & R_, const Vector & _w, const Vector & _dw )

inline

Definition at line 100 of file frameacc.hpp.

Member Function Documentation

Identity()

RotationAcc RotationAcc::Identity ( )

static

Definition at line 218 of file frameacc.inl.

Inverse() [1/5]

RotationAcc RotationAcc::Inverse

(

)

const

Definition at line 222 of file frameacc.inl.

References R, and w().

Inverse() [2/5]

TwistAcc RotationAcc::Inverse

(

const Twist &

arg

)

const

Definition at line 533 of file frameacc.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

Inverse() [3/5]

TwistAcc RotationAcc::Inverse

(

const TwistAcc &

arg

)

const

Definition at line 523 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

Inverse() [4/5]

VectorAcc RotationAcc::Inverse

(

const Vector &

arg

)

const

Definition at line 234 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, R, KDL::VectorAcc::v, and w().

Inverse() [5/5]

VectorAcc RotationAcc::Inverse

(

const VectorAcc &

arg

)

const

Definition at line 226 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, R, KDL::VectorAcc::v, and w().

operator*() [1/4]

TwistAcc RotationAcc::operator*

(

const Twist &

arg

)

const

Definition at line 538 of file frameacc.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

operator*() [2/4]

TwistAcc RotationAcc::operator*

(

const TwistAcc &

arg

)

const

Definition at line 528 of file frameacc.inl.

References KDL::TwistAcc::rot, and KDL::TwistAcc::vel.

operator*() [3/4]

VectorAcc RotationAcc::operator*

(

const Vector &

arg

)

const

Definition at line 256 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, R, KDL::VectorAcc::v, and w().

operator*() [4/4]

VectorAcc RotationAcc::operator*

(

const VectorAcc &

arg

)

const

Definition at line 243 of file frameacc.inl.

References KDL::VectorAcc::dv, KDL::VectorAcc::p, R, KDL::VectorAcc::v, and w().

operator=() [1/2]

RotationAcc & RotationAcc::operator=

(

const Rotation &

arg

)

Definition at line 211 of file frameacc.inl.

References R, and w().

operator=() [2/2]

RotationAcc & RotationAcc::operator=

(

const RotationAcc &

arg

)

Definition at line 205 of file frameacc.inl.

References dw, R, R, w, and w().

Friends And Related Symbol Documentation

Equal [1/3]

IMETHOD friend bool Equal ( const Rotation & r1, const RotationAcc & r2, double eps = epsilon )

friend

Equal [2/3]

IMETHOD friend bool Equal ( const RotationAcc & r1, const Rotation & r2, double eps = epsilon )

friend

Equal [3/3]

IMETHOD friend bool Equal ( const RotationAcc & r1, const RotationAcc & r2, double eps = epsilon )

friend

operator* [1/3]

IMETHOD friend RotationAcc operator* ( const Rotation & r1, const RotationAcc & r2 )

friend

operator* [2/3]

IMETHOD friend RotationAcc operator* ( const RotationAcc & r1, const Rotation & r2 )

friend

operator* [3/3]

IMETHOD friend RotationAcc operator* ( const RotationAcc & r1, const RotationAcc & r2 )

friend

Member Data Documentation

dw

Vector KDL::RotationAcc::dw

angular acceration vector

Definition at line 96 of file frameacc.hpp.

Referenced by operator=().

R

Rotation KDL::RotationAcc::R

rotation matrix

Definition at line 94 of file frameacc.hpp.

Referenced by operator=().

w

Vector KDL::RotationAcc::w

angular velocity vector

Definition at line 95 of file frameacc.hpp.

Referenced by operator=().

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

• frameacc.hpp
• frameacc.inl