33 #include "utilities/rall2d.h"
72 p(_p),
v(_v),
dv(_dv) {}
120 R(_R),
w(_w),
dw(_dw) {}
174 M(_T.
M,_t.rot,_dt.rot),
p(_T.
p,_t.vel,_dt.vel) {}
Definition: frameacc.hpp:166
IMETHOD FrameAcc & operator=(const FrameAcc &arg)
Definition: frameacc.inl:338
IMETHOD Twist GetTwist() const
Definition: frameacc.inl:409
IMETHOD FrameAcc Inverse() const
Definition: frameacc.inl:381
IMETHOD friend bool Equal(const FrameAcc &r1, const Frame &r2, double eps)
FrameAcc(const Frame &_T)
Definition: frameacc.hpp:172
static IMETHOD FrameAcc Identity()
Definition: frameacc.inl:344
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:168
IMETHOD Frame GetFrame() const
Definition: frameacc.inl:404
IMETHOD friend bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps)
IMETHOD VectorAcc operator*(const VectorAcc &arg) const
Definition: frameacc.inl:362
FrameAcc(const Frame &_T, const Twist &_t, const Twist &_dt)
Definition: frameacc.hpp:173
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:169
FrameAcc()
Definition: frameacc.hpp:171
IMETHOD Twist GetAccTwist() const
Definition: frameacc.inl:414
FrameAcc(const RotationAcc &_M, const VectorAcc &_p)
Definition: frameacc.hpp:175
IMETHOD friend bool Equal(const Frame &r1, const FrameAcc &r2, double eps)
Definition: frames.hpp:570
Definition: frameacc.hpp:111
IMETHOD RotationAcc Inverse() const
Definition: frameacc.inl:224
static IMETHOD RotationAcc Identity()
Definition: frameacc.inl:220
IMETHOD RotationAcc & operator=(const RotationAcc &arg)
Definition: frameacc.inl:207
RotationAcc(const Rotation &_R)
Definition: frameacc.hpp:118
Vector dw
angular acceration vector
Definition: frameacc.hpp:115
Vector w
angular velocity vector
Definition: frameacc.hpp:114
IMETHOD friend bool Equal(const Rotation &r1, const RotationAcc &r2, double eps)
IMETHOD friend bool Equal(const RotationAcc &r1, const Rotation &r2, double eps)
RotationAcc(const Rotation &_R, const Vector &_w, const Vector &_dw)
Definition: frameacc.hpp:119
IMETHOD friend bool Equal(const RotationAcc &r1, const RotationAcc &r2, double eps)
IMETHOD VectorAcc operator*(const VectorAcc &arg) const
Definition: frameacc.inl:245
RotationAcc()
Definition: frameacc.hpp:117
Rotation R
rotation matrix
Definition: frameacc.hpp:113
represents rotations in 3 dimensional space.
Definition: frames.hpp:302
Definition: frameacc.hpp:210
IMETHOD friend bool Equal(const Twist &a, const TwistAcc &b, double eps)
IMETHOD friend TwistAcc operator+(const TwistAcc &lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc operator*(const doubleAcc &lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc operator-(const TwistAcc &lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc operator-(const TwistAcc &arg)
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:213
IMETHOD friend bool Equal(const TwistAcc &a, const TwistAcc &b, double eps)
IMETHOD TwistAcc & operator+=(const TwistAcc &arg)
Definition: frameacc.inl:463
IMETHOD friend TwistAcc operator*(const TwistAcc &lhs, double rhs)
IMETHOD friend void SetToZero(TwistAcc &v)
IMETHOD void ReverseSign()
Definition: frameacc.inl:440
IMETHOD friend TwistAcc operator/(const TwistAcc &lhs, const doubleAcc &rhs)
IMETHOD friend TwistAcc operator*(double lhs, const TwistAcc &rhs)
static IMETHOD TwistAcc Zero()
Definition: frameacc.inl:434
IMETHOD friend bool Equal(const TwistAcc &a, const Twist &b, double eps)
IMETHOD TwistAcc & operator-=(const TwistAcc &arg)
Definition: frameacc.inl:456
IMETHOD Twist GetTwistDot() const
Definition: frameacc.inl:582
TwistAcc()
Definition: frameacc.hpp:216
IMETHOD TwistAcc RefPoint(const VectorAcc &v_base_AB)
Definition: frameacc.inl:446
IMETHOD Twist GetTwist() const
Definition: frameacc.inl:578
TwistAcc(const VectorAcc &_vel, const VectorAcc &_rot)
Definition: frameacc.hpp:217
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:212
IMETHOD friend TwistAcc operator*(const TwistAcc &lhs, const doubleAcc &rhs)
IMETHOD friend TwistAcc operator/(const TwistAcc &lhs, double rhs)
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: frameacc.hpp:62
IMETHOD friend bool Equal(const VectorAcc &r1, const Vector &r2, double eps)
Vector p
position vector
Definition: frameacc.hpp:64
IMETHOD friend VectorAcc operator/(const VectorAcc &r1, double r2)
VectorAcc(const Vector &_p)
Definition: frameacc.hpp:69
IMETHOD friend VectorAcc operator+(const VectorAcc &r1, const VectorAcc &r2)
IMETHOD friend doubleAcc dot(const Vector &lhs, const VectorAcc &rhs)
IMETHOD friend VectorAcc operator*(const Rotation &R, const VectorAcc &x)
IMETHOD friend doubleAcc dot(const VectorAcc &lhs, const Vector &rhs)
Vector dv
acceleration vector
Definition: frameacc.hpp:66
VectorAcc()
Definition: frameacc.hpp:68
IMETHOD VectorAcc & operator-=(const VectorAcc &arg)
Definition: frameacc.inl:112
Vector v
velocity vector
Definition: frameacc.hpp:65
IMETHOD VectorAcc & operator+=(const VectorAcc &arg)
Definition: frameacc.inl:106
IMETHOD friend bool Equal(const VectorAcc &r1, const VectorAcc &r2, double eps)
IMETHOD void ReverseSign()
Definition: frameacc.inl:123
IMETHOD friend bool Equal(const Vector &r1, const VectorAcc &r2, double eps)
VectorAcc(const Vector &_p, const Vector &_v)
Definition: frameacc.hpp:70
IMETHOD friend doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
IMETHOD friend VectorAcc operator-(const VectorAcc &r1, const VectorAcc &r2)
VectorAcc(const Vector &_p, const Vector &_v, const Vector &_dv)
Definition: frameacc.hpp:71
IMETHOD doubleAcc Norm(double eps=epsilon)
Definition: frameacc.inl:129
IMETHOD VectorAcc & operator=(const VectorAcc &arg)
Definition: frameacc.inl:92
static IMETHOD VectorAcc Zero()
Definition: frameacc.inl:119
IMETHOD friend VectorAcc operator*(const VectorAcc &r1, const VectorAcc &r2)
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
Definition: articulatedbodyinertia.cpp:26
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:40
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)