23 #ifndef KDL_FRAMEVEL_H 24 #define KDL_FRAMEVEL_H 26 #include "utilities/utility.h" 27 #include "utilities/rall1d.h" 28 #include "utilities/traits.h" 39 return doubleVel((b.t-a.t)/dt,(b.grad-a.grad)/dt);
43 return doubleVel(a.t+da.t*dt,a.grad+da.grad*dt);
230 M(_T.
M,_t.rot),
p(_T.
p,_t.vel) {}
IMETHOD friend bool operator!=(const FrameVel &a, const FrameVel &b)
Definition: framevel.hpp:93
IMETHOD doubleVel Norm(double eps=epsilon) const
Definition: framevel.hpp:354
IMETHOD friend bool operator==(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.hpp:370
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
TwistVel()
Definition: framevel.hpp:285
FrameVel(const RotationVel &_M, const VectorVel &_p)
Definition: framevel.hpp:232
IMETHOD friend bool operator==(const FrameVel &a, const FrameVel &b)
Definition: framevel.hpp:85
VectorVel vel
Definition: framevel.hpp:280
VectorVel rot
Definition: framevel.hpp:281
IMETHOD void ReverseSign()
Definition: framevel.hpp:350
static IMETHOD RotationVel RotZ(const doubleVel &angle)
Definition: framevel.hpp:225
TwistVel(const VectorVel &_vel, const VectorVel &_rot)
Definition: framevel.hpp:286
FrameVel()
Definition: framevel.hpp:224
IMETHOD friend bool operator!=(const RotationVel &r1, const RotationVel &r2)
Definition: framevel.hpp:422
IMETHOD Twist GetTwistDot() const
Definition: framevel.hpp:660
IMETHOD VectorVel & operator+=(const VectorVel &arg)
Definition: framevel.hpp:336
FrameVel(const Frame &_T, const Twist &_t)
Definition: framevel.hpp:229
FrameVel(const Frame &_T)
Definition: framevel.hpp:226
RotationVel(const Rotation &_R)
Definition: framevel.hpp:158
IMETHOD RotationVel & operator=(const RotationVel &arg)
Definition: framevel.hpp:142
IMETHOD friend VectorVel operator+(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.hpp:246
IMETHOD friend VectorVel operator/(const VectorVel &r1, double r2)
Definition: framevel.hpp:314
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
determines the difference of vector b with vector a.
Definition: frames.hpp:1130
Frame value() const
Definition: framevel.hpp:236
IMETHOD void DoRotZ(const doubleVel &angle)
Definition: framevel.hpp:221
Vector deriv() const
Definition: framevel.hpp:163
Definition: framevel.hpp:275
IMETHOD friend VectorVel operator*(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.hpp:281
IMETHOD friend TwistVel operator/(const TwistVel &lhs, double rhs)
Definition: framevel.hpp:553
TwistVel(const Twist &p, const Twist &v)
Definition: framevel.hpp:287
IMETHOD FrameVel Inverse() const
Definition: framevel.hpp:66
static IMETHOD FrameVel Identity()
Definition: framevel.hpp:29
RotationVel(const Rotation &_R, const Vector &_w)
Definition: framevel.hpp:159
IMETHOD friend bool operator!=(const TwistVel &a, const TwistVel &b)
Definition: framevel.hpp:469
TwistVel(const Twist &p)
Definition: framevel.hpp:288
IMETHOD void DoRotX(const doubleVel &angle)
Definition: framevel.hpp:205
VectorVel(const Vector &_p, const Vector &_v)
Definition: framevel.hpp:95
represents both translational and rotational velocities.
Definition: frames.hpp:720
static IMETHOD VectorVel Zero()
Definition: framevel.hpp:347
Definition: framevel.hpp:84
static IMETHOD RotationVel Rot(const Vector &rotvec, const doubleVel &angle)
Definition: framevel.hpp:230
IMETHOD friend TwistVel operator-(const TwistVel &lhs, const TwistVel &rhs)
Definition: framevel.hpp:582
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
Definition: frameacc.hpp:394
static IMETHOD RotationVel RotY(const doubleVel &angle)
Definition: framevel.hpp:217
Definition: articulatedbodyinertia.cpp:26
VectorVel()
Definition: framevel.hpp:94
Rotation value() const
Definition: framevel.hpp:162
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
IMETHOD friend bool Equal(const FrameVel &r1, const FrameVel &r2, double eps)
Definition: framevel.hpp:76
Vector p
Definition: framevel.hpp:91
Rotation R
Definition: framevel.hpp:154
RotationVel M
Definition: framevel.hpp:221
Definition: framevel.hpp:147
IMETHOD VectorVel operator*(const VectorVel &arg) const
Definition: framevel.hpp:190
KDL::doubleVel derivType
Definition: framevel.hpp:60
static IMETHOD TwistVel Zero()
Definition: framevel.hpp:506
IMETHOD friend TwistVel operator+(const TwistVel &lhs, const TwistVel &rhs)
Definition: framevel.hpp:577
IMETHOD void DoRotY(const doubleVel &angle)
Definition: framevel.hpp:213
IMETHOD friend TwistVel operator*(const TwistVel &lhs, double rhs)
Definition: framevel.hpp:543
Twist deriv() const
Definition: framevel.hpp:293
Vector deriv() const
Definition: framevel.hpp:99
IMETHOD friend void SetToZero(TwistVel &v)
Definition: framevel.hpp:593
IMETHOD VectorVel UnitY() const
Definition: framevel.hpp:157
IMETHOD void posrandom(Vector &a)
Definition: frames.hpp:1244
Vector value() const
Definition: framevel.hpp:98
Vector w
Definition: framevel.hpp:155
IMETHOD FrameVel & operator=(const Frame &arg)
Definition: framevel.hpp:71
static IMETHOD RotationVel Rot2(const Vector &rotvec, const doubleVel &angle)
Definition: framevel.hpp:239
IMETHOD Twist GetTwist() const
Definition: framevel.hpp:656
IMETHOD VectorVel & operator-=(const VectorVel &arg)
Definition: framevel.hpp:341
double valueType
Definition: framevel.hpp:59
IMETHOD friend bool operator==(const RotationVel &r1, const RotationVel &r2)
Definition: framevel.hpp:414
IMETHOD friend doubleVel dot(const VectorVel &lhs, const VectorVel &rhs)
Definition: framevel.hpp:496
IMETHOD friend bool Equal(const VectorVel &r1, const VectorVel &r2, double eps)
Definition: framevel.hpp:361
RotationVel()
Definition: framevel.hpp:157
Vector v
Definition: framevel.hpp:92
IMETHOD VectorVel UnitX() const
Definition: framevel.hpp:153
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
IMETHOD friend bool operator!=(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.hpp:378
IMETHOD TwistVel RefPoint(const VectorVel &v_base_AB)
Definition: framevel.hpp:518
VectorVel p
Definition: framevel.hpp:222
Twist deriv() const
Definition: framevel.hpp:237
IMETHOD friend VectorVel operator-(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.hpp:250
IMETHOD Twist GetTwist() const
Definition: framevel.hpp:125
IMETHOD Vector addDelta(const Vector &p_w_a, const Vector &p_w_da, double dt=1)
adds vector da to vector a.
Definition: frames.hpp:1157
static IMETHOD RotationVel RotX(const doubleVel &angle)
Definition: framevel.hpp:209
IMETHOD friend void SetToZero(VectorVel &v)
Definition: framevel.hpp:275
IMETHOD friend bool operator==(const TwistVel &a, const TwistVel &b)
Definition: framevel.hpp:461
IMETHOD TwistVel & operator+=(const TwistVel &arg)
Definition: framevel.hpp:535
IMETHOD VectorVel UnitZ() const
Definition: framevel.hpp:161
static IMETHOD RotationVel Identity()
Definition: framevel.hpp:167
Definition: framevel.hpp:212
IMETHOD friend bool Equal(const RotationVel &r1, const RotationVel &r2, double eps)
Definition: framevel.hpp:405
Twist value() const
Definition: framevel.hpp:290
IMETHOD VectorVel operator*(const VectorVel &arg) const
Definition: framevel.hpp:47
IMETHOD void random(Vector &a)
addDelta operator for displacement rotational velocity.
Definition: frames.hpp:1215
IMETHOD friend bool Equal(const TwistVel &a, const TwistVel &b, double eps)
Definition: framevel.hpp:449
IMETHOD void ReverseSign()
Definition: framevel.hpp:512
Rall1d< double > doubleVel
Definition: framevel.hpp:36
IMETHOD TwistVel & operator-=(const TwistVel &arg)
Definition: framevel.hpp:528
IMETHOD RotationVel Inverse() const
Definition: framevel.hpp:171
IMETHOD VectorVel & operator=(const VectorVel &arg)
Definition: framevel.hpp:326
IMETHOD Frame GetFrame() const
Definition: framevel.hpp:121