KDL::RotationVel Class Reference

#include <framevel.hpp>

Public Member Functions
	RotationVel ()
	RotationVel (const Rotation &R_)
	RotationVel (const Rotation &R_, const Vector &_w)
Rotation	value () const
Vector	deriv () const
IMETHOD RotationVel &	operator= (const RotationVel &arg)
IMETHOD RotationVel &	operator= (const Rotation &arg)
IMETHOD VectorVel	UnitX () const
IMETHOD VectorVel	UnitY () const
IMETHOD VectorVel	UnitZ () const
IMETHOD RotationVel	Inverse () const
IMETHOD VectorVel	Inverse (const VectorVel &arg) const
IMETHOD VectorVel	Inverse (const Vector &arg) const
IMETHOD VectorVel	operator* (const VectorVel &arg) const
IMETHOD VectorVel	operator* (const Vector &arg) const
IMETHOD void	DoRotX (const doubleVel &angle)
IMETHOD void	DoRotY (const doubleVel &angle)
IMETHOD void	DoRotZ (const doubleVel &angle)
IMETHOD TwistVel	Inverse (const TwistVel &arg) const
IMETHOD TwistVel	Inverse (const Twist &arg) const
IMETHOD TwistVel	operator* (const TwistVel &arg) const
IMETHOD TwistVel	operator* (const Twist &arg) const

Static Public Member Functions
static IMETHOD RotationVel	Identity ()
static IMETHOD RotationVel	RotX (const doubleVel &angle)
static IMETHOD RotationVel	RotY (const doubleVel &angle)
static IMETHOD RotationVel	RotZ (const doubleVel &angle)
static IMETHOD RotationVel	Rot (const Vector &rotvec, const doubleVel &angle)
static IMETHOD RotationVel	Rot2 (const Vector &rotvec, const doubleVel &angle)

Public Attributes
Rotation	R
Vector	w

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

Detailed Description

Definition at line 123 of file framevel.hpp.

Constructor & Destructor Documentation

RotationVel() [1/3]

KDL::RotationVel::RotationVel ( )

inline

Definition at line 133 of file framevel.hpp.

RotationVel() [2/3]

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

inlineexplicit

Definition at line 134 of file framevel.hpp.

RotationVel() [3/3]

KDL::RotationVel::RotationVel ( const Rotation & R_, const Vector & _w )

inline

Definition at line 135 of file framevel.hpp.

Member Function Documentation

deriv()

Vector KDL::RotationVel::deriv ( ) const

inline

Definition at line 139 of file framevel.hpp.

References w.

Referenced by KDL::FrameVel::deriv().

DoRotX()

void RotationVel::DoRotX

(

const doubleVel &

angle

)

Definition at line 167 of file framevel.inl.

References R, and w().

DoRotY()

void RotationVel::DoRotY

(

const doubleVel &

angle

)

Definition at line 175 of file framevel.inl.

References R, and w().

DoRotZ()

void RotationVel::DoRotZ

(

const doubleVel &

angle

)

Definition at line 183 of file framevel.inl.

References R, and w().

Identity()

RotationVel RotationVel::Identity ( )

static

Definition at line 129 of file framevel.inl.

Inverse() [1/5]

RotationVel RotationVel::Inverse

(

)

const

Definition at line 133 of file framevel.inl.

References R, and w().

Inverse() [2/5]

TwistVel RotationVel::Inverse

(

const Twist &

arg

)

const

Definition at line 483 of file framevel.inl.

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

Inverse() [3/5]

TwistVel RotationVel::Inverse

(

const TwistVel &

arg

)

const

Definition at line 473 of file framevel.inl.

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

Inverse() [4/5]

VectorVel RotationVel::Inverse

(

const Vector &

arg

)

const

Definition at line 144 of file framevel.inl.

References R, and w().

Inverse() [5/5]

VectorVel RotationVel::Inverse

(

const VectorVel &

arg

)

const

Definition at line 137 of file framevel.inl.

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

operator*() [1/4]

TwistVel RotationVel::operator*

(

const Twist &

arg

)

const

Definition at line 488 of file framevel.inl.

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

operator*() [2/4]

TwistVel RotationVel::operator*

(

const TwistVel &

arg

)

const

Definition at line 478 of file framevel.inl.

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

operator*() [3/4]

VectorVel RotationVel::operator*

(

const Vector &

arg

)

const

Definition at line 157 of file framevel.inl.

References R, and w().

operator*() [4/4]

VectorVel RotationVel::operator*

(

const VectorVel &

arg

)

const

Definition at line 152 of file framevel.inl.

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

operator=() [1/2]

RotationVel & RotationVel::operator=

(

const Rotation &

arg

)

Definition at line 109 of file framevel.inl.

References R, and w().

operator=() [2/2]

RotationVel & RotationVel::operator=

(

const RotationVel &

arg

)

Definition at line 104 of file framevel.inl.

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

Rot()

RotationVel RotationVel::Rot ( const Vector & rotvec, const doubleVel & angle )

static

Definition at line 192 of file framevel.inl.

References v.

Rot2()

RotationVel RotationVel::Rot2 ( const Vector & rotvec, const doubleVel & angle )

static

Definition at line 201 of file framevel.inl.

RotX()

RotationVel RotationVel::RotX ( const doubleVel & angle )

static

Definition at line 171 of file framevel.inl.

RotY()

RotationVel RotationVel::RotY ( const doubleVel & angle )

static

Definition at line 179 of file framevel.inl.

RotZ()

RotationVel RotationVel::RotZ ( const doubleVel & angle )

static

Definition at line 187 of file framevel.inl.

UnitX()

VectorVel RotationVel::UnitX

(

)

const

Definition at line 115 of file framevel.inl.

References R, and w().

UnitY()

VectorVel RotationVel::UnitY

(

)

const

Definition at line 119 of file framevel.inl.

References R, and w().

UnitZ()

VectorVel RotationVel::UnitZ

(

)

const

Definition at line 123 of file framevel.inl.

References R, and w().

value()

Rotation KDL::RotationVel::value ( ) const

inline

Definition at line 138 of file framevel.hpp.

References R.

Referenced by KDL::FrameVel::value().

Friends And Related Symbol Documentation

Equal [1/3]

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

friend

Equal [2/3]

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

friend

Equal [3/3]

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

friend

operator* [1/3]

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

friend

operator* [2/3]

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

friend

operator* [3/3]

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

friend

Member Data Documentation

R

Rotation KDL::RotationVel::R

Definition at line 130 of file framevel.hpp.

Referenced by operator=(), and value().

w

Vector KDL::RotationVel::w

Definition at line 131 of file framevel.hpp.

Referenced by deriv(), and operator=().

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

• framevel.hpp
• framevel.inl