KDL  1.4.0
Functions
frames.inl File Reference

Inlined member functions and global functions that relate to the classes in frames.cpp. More...

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Functions

IMETHOD Vector operator+ (const Vector &lhs, const Vector &rhs)
 
IMETHOD Vector operator- (const Vector &lhs, const Vector &rhs)
 
Vector operator* (const Vector &lhs, double rhs)
 
Vector operator* (double lhs, const Vector &rhs)
 
Vector operator/ (const Vector &lhs, double rhs)
 
Vector operator* (const Vector &lhs, const Vector &rhs)
 
Wrench operator* (const Wrench &lhs, double rhs)
 
Wrench operator* (double lhs, const Wrench &rhs)
 
Wrench operator/ (const Wrench &lhs, double rhs)
 
Wrench operator+ (const Wrench &lhs, const Wrench &rhs)
 
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
 
Wrench operator- (const Wrench &arg)
 
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)
 
Twist operator* (const Twist &lhs, const Twist &rhs)
 
Wrench operator* (const Twist &lhs, const Wrench &rhs)
 
Frame operator* (const Frame &lhs, const Frame &rhs)
 
Vector operator- (const Vector &arg)
 
IMETHOD Vector2 operator+ (const Vector2 &lhs, const Vector2 &rhs)
 
IMETHOD Vector2 operator- (const Vector2 &lhs, const Vector2 &rhs)
 
IMETHOD Vector2 operator* (const Vector2 &lhs, double rhs)
 
IMETHOD Vector2 operator* (double lhs, const Vector2 &rhs)
 
IMETHOD Vector2 operator/ (const Vector2 &lhs, double rhs)
 
IMETHOD Vector2 operator- (const Vector2 &arg)
 
IMETHOD Rotation2 operator* (const Rotation2 &lhs, const Rotation2 &rhs)
 
IMETHOD Frame2 operator* (const Frame2 &lhs, const Frame2 &rhs)
 
IMETHOD double dot (const Vector &lhs, const Vector &rhs)
 
IMETHOD double dot (const Twist &lhs, const Wrench &rhs)
 
IMETHOD double dot (const Wrench &rhs, const Twist &lhs)
 
IMETHOD bool Equal (const Vector &a, const Vector &b, double eps)
 
IMETHOD bool Equal (const Frame &a, const Frame &b, double eps)
 
IMETHOD bool Equal (const Wrench &a, const Wrench &b, double eps)
 
IMETHOD bool Equal (const Twist &a, const Twist &b, double eps)
 
IMETHOD bool Equal (const Vector2 &a, const Vector2 &b, double eps)
 
IMETHOD bool Equal (const Rotation2 &a, const Rotation2 &b, double eps)
 
IMETHOD bool Equal (const Frame2 &a, const Frame2 &b, double eps)
 
IMETHOD void SetToZero (Vector &v)
 
IMETHOD void SetToZero (Twist &v)
 
IMETHOD void SetToZero (Wrench &v)
 
IMETHOD void SetToZero (Vector2 &v)
 
IMETHOD Rotation Rot (const Vector &axis_a_b)
 axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame. More...
 
IMETHOD Vector diff (const Vector &a, const Vector &b, double dt)
 
IMETHOD Vector diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt)
 
IMETHOD Twist diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt)
 
IMETHOD Twist diff (const Twist &a, const Twist &b, double dt)
 
IMETHOD Wrench diff (const Wrench &a, const Wrench &b, double dt)
 
IMETHOD Vector addDelta (const Vector &a, const Vector &da, double dt)
 
IMETHOD Rotation addDelta (const Rotation &a, const Vector &da, double dt)
 
IMETHOD Frame addDelta (const Frame &a, const Twist &da, double dt)
 
IMETHOD Twist addDelta (const Twist &a, const Twist &da, double dt)
 
IMETHOD Wrench addDelta (const Wrench &a, const Wrench &da, double dt)
 
IMETHOD void random (Vector &a)
 addDelta operator for displacement rotational velocity. More...
 
IMETHOD void random (Twist &a)
 
IMETHOD void random (Wrench &a)
 
IMETHOD void random (Rotation &R)
 
IMETHOD void random (Frame &F)
 
IMETHOD void posrandom (Vector &a)
 
IMETHOD void posrandom (Twist &a)
 
IMETHOD void posrandom (Wrench &a)
 
IMETHOD void posrandom (Rotation &R)
 
IMETHOD void posrandom (Frame &F)
 
IMETHOD bool operator== (const Frame &a, const Frame &b)
 
IMETHOD bool operator!= (const Frame &a, const Frame &b)
 
IMETHOD bool operator== (const Vector &a, const Vector &b)
 
IMETHOD bool operator!= (const Vector &a, const Vector &b)
 
IMETHOD bool operator== (const Twist &a, const Twist &b)
 
IMETHOD bool operator!= (const Twist &a, const Twist &b)
 
IMETHOD bool operator== (const Wrench &a, const Wrench &b)
 
IMETHOD bool operator!= (const Wrench &a, const Wrench &b)
 
IMETHOD bool operator!= (const Rotation &a, const Rotation &b)
 
IMETHOD bool operator== (const Vector2 &a, const Vector2 &b)
 
IMETHOD bool operator!= (const Vector2 &a, const Vector2 &b)
 

Detailed Description

Inlined member functions and global functions that relate to the classes in frames.cpp.

Function Documentation

§ addDelta() [1/5]

IMETHOD Vector addDelta ( const Vector &  a,
const Vector &  da,
double  dt 
)

Referenced by addDelta().

§ addDelta() [2/5]

IMETHOD Rotation addDelta ( const Rotation &  a,
const Vector &  da,
double  dt 
)

References Rot().

§ addDelta() [3/5]

IMETHOD Frame addDelta ( const Frame &  a,
const Twist &  da,
double  dt 
)

References addDelta().

§ addDelta() [4/5]

IMETHOD Twist addDelta ( const Twist &  a,
const Twist &  da,
double  dt 
)

References addDelta().

§ addDelta() [5/5]

IMETHOD Wrench addDelta ( const Wrench &  a,
const Wrench &  da,
double  dt 
)

References addDelta().

§ diff() [1/5]

IMETHOD Vector diff ( const Vector &  a,
const Vector &  b,
double  dt 
)

Referenced by diff().

§ diff() [2/5]

IMETHOD Vector diff ( const Rotation &  R_a_b1,
const Rotation &  R_a_b2,
double  dt 
)

§ diff() [3/5]

IMETHOD Twist diff ( const Frame &  F_a_b1,
const Frame &  F_a_b2,
double  dt 
)

References diff().

§ diff() [4/5]

IMETHOD Twist diff ( const Twist &  a,
const Twist &  b,
double  dt 
)

References diff().

§ diff() [5/5]

IMETHOD Wrench diff ( const Wrench &  a,
const Wrench &  b,
double  dt 
)

References diff().

§ dot() [1/3]

IMETHOD double dot ( const Vector &  lhs,
const Vector &  rhs 
)

Referenced by dot().

§ dot() [2/3]

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

References dot().

§ dot() [3/3]

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

References dot().

§ Equal() [1/7]

IMETHOD bool Equal ( const Vector &  a,
const Vector &  b,
double  eps 
)

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

§ Equal() [2/7]

IMETHOD bool Equal ( const Frame &  a,
const Frame &  b,
double  eps 
)

References Equal().

§ Equal() [3/7]

IMETHOD bool Equal ( const Wrench &  a,
const Wrench &  b,
double  eps 
)

References Equal().

§ Equal() [4/7]

IMETHOD bool Equal ( const Twist &  a,
const Twist &  b,
double  eps 
)

References Equal().

§ Equal() [5/7]

IMETHOD bool Equal ( const Vector2 &  a,
const Vector2 &  b,
double  eps 
)

References Equal().

§ Equal() [6/7]

IMETHOD bool Equal ( const Rotation2 &  a,
const Rotation2 &  b,
double  eps 
)

References Equal().

§ Equal() [7/7]

IMETHOD bool Equal ( const Frame2 &  a,
const Frame2 &  b,
double  eps 
)

References Equal().

§ operator!=() [1/6]

IMETHOD bool operator!= ( const Frame &  a,
const Frame &  b 
)

References operator==().

§ operator!=() [2/6]

IMETHOD bool operator!= ( const Vector &  a,
const Vector &  b 
)

References operator==().

§ operator!=() [3/6]

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

References operator==().

§ operator!=() [4/6]

IMETHOD bool operator!= ( const Wrench &  a,
const Wrench &  b 
)

References operator==().

§ operator!=() [5/6]

IMETHOD bool operator!= ( const Rotation &  a,
const Rotation &  b 
)

References operator==().

§ operator!=() [6/6]

IMETHOD bool operator!= ( const Vector2 &  a,
const Vector2 &  b 
)

References operator==().

§ operator*() [1/14]

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

Referenced by operator*(), and operator-().

§ operator*() [2/14]

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

§ operator*() [3/14]

Vector operator* ( const Vector &  lhs,
const Vector &  rhs 
)

References operator*().

§ operator*() [4/14]

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

§ operator*() [5/14]

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

§ operator*() [6/14]

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

§ operator*() [7/14]

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

§ operator*() [8/14]

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

§ operator*() [9/14]

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

§ operator*() [10/14]

Frame operator* ( const Frame &  lhs,
const Frame &  rhs 
)

References operator*().

§ operator*() [11/14]

IMETHOD Vector2 operator* ( const Vector2 &  lhs,
double  rhs 
)

§ operator*() [12/14]

IMETHOD Vector2 operator* ( double  lhs,
const Vector2 &  rhs 
)

§ operator*() [13/14]

IMETHOD Rotation2 operator* ( const Rotation2 &  lhs,
const Rotation2 &  rhs 
)

References Rot().

§ operator*() [14/14]

IMETHOD Frame2 operator* ( const Frame2 &  lhs,
const Frame2 &  rhs 
)

References operator*().

§ operator+() [1/4]

IMETHOD Vector operator+ ( const Vector &  lhs,
const Vector &  rhs 
)

§ operator+() [2/4]

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

§ operator+() [3/4]

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

§ operator+() [4/4]

IMETHOD Vector2 operator+ ( const Vector2 &  lhs,
const Vector2 &  rhs 
)

§ operator-() [1/8]

IMETHOD Vector operator- ( const Vector &  lhs,
const Vector &  rhs 
)

§ operator-() [2/8]

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

§ operator-() [3/8]

Wrench operator- ( const Wrench &  arg)

References operator*().

§ operator-() [4/8]

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

§ operator-() [5/8]

Twist operator- ( const Twist &  arg)

§ operator-() [6/8]

Vector operator- ( const Vector &  arg)

References operator*(), and Rot().

§ operator-() [7/8]

IMETHOD Vector2 operator- ( const Vector2 &  lhs,
const Vector2 &  rhs 
)

§ operator-() [8/8]

IMETHOD Vector2 operator- ( const Vector2 &  arg)

References operator*().

§ operator/() [1/4]

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

§ operator/() [2/4]

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

§ operator/() [3/4]

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

§ operator/() [4/4]

IMETHOD Vector2 operator/ ( const Vector2 &  lhs,
double  rhs 
)

§ operator==() [1/5]

IMETHOD bool operator== ( const Frame &  a,
const Frame &  b 
)

References Equal().

Referenced by operator!=().

§ operator==() [2/5]

IMETHOD bool operator== ( const Vector &  a,
const Vector &  b 
)

References Equal().

§ operator==() [3/5]

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

References Equal().

§ operator==() [4/5]

IMETHOD bool operator== ( const Wrench &  a,
const Wrench &  b 
)

References Equal().

§ operator==() [5/5]

IMETHOD bool operator== ( const Vector2 &  a,
const Vector2 &  b 
)

References Equal().

§ posrandom() [1/5]

IMETHOD void posrandom ( Vector &  a)

Referenced by posrandom().

§ posrandom() [2/5]

IMETHOD void posrandom ( Twist &  a)

References posrandom().

§ posrandom() [3/5]

IMETHOD void posrandom ( Wrench &  a)

References posrandom().

§ posrandom() [4/5]

IMETHOD void posrandom ( Rotation &  R)

References posrandom().

§ posrandom() [5/5]

IMETHOD void posrandom ( Frame &  F)

References random().

§ random() [1/5]

IMETHOD void random ( Vector &  a)

addDelta operator for displacement rotational velocity.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters
a: displacement rotational velocity
da: rotational velocity
Returns
displacement rotational velocity
Warning
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) { return getRot(addDelta(Rot(a),da,dt)); } addDelta operator for displacement twist.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters
a: displacement twist
da: twist
Returns
displacement twist
Warning
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) { return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt)); }

Referenced by posrandom(), and random().

§ random() [2/5]

IMETHOD void random ( Twist &  a)

References random().

§ random() [3/5]

IMETHOD void random ( Wrench &  a)

References random().

§ random() [4/5]

IMETHOD void random ( Rotation &  R)

References random().

§ random() [5/5]

IMETHOD void random ( Frame &  F)

References random().

§ Rot()

IMETHOD Rotation Rot ( const Vector &  axis_a_b)

axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame.

This routine returns the rotation matrix R_a_b

Referenced by addDelta(), operator*(), and operator-().

§ SetToZero() [1/4]

IMETHOD void SetToZero ( Vector &  v)

Referenced by SetToZero().

§ SetToZero() [2/4]

IMETHOD void SetToZero ( Twist &  v)

References SetToZero().

§ SetToZero() [3/4]

IMETHOD void SetToZero ( Wrench &  v)

References SetToZero().

§ SetToZero() [4/4]

IMETHOD void SetToZero ( Vector2 &  v)