33 #include "utilities/rall2d.h" 41 typedef Rall2d<double,double,double>
doubleAcc;
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) {}
186 IMETHOD
Twist GetTwist()
const;
187 IMETHOD
Twist GetAccTwist()
const;
252 IMETHOD
Twist GetTwist()
const;
253 IMETHOD
Twist GetTwistDot()
const;
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:168
IMETHOD friend VectorAcc operator/(const VectorAcc &r1, double r2)
Definition: frameacc.hpp:181
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
Vector dw
angular acceration vector
Definition: frameacc.hpp:115
RotationAcc()
Definition: frameacc.hpp:117
Vector dv
acceleration vector
Definition: frameacc.hpp:66
FrameAcc()
Definition: frameacc.hpp:171
Vector w
angular velocity vector
Definition: frameacc.hpp:114
FrameAcc(const Frame &_T, const Twist &_t, const Twist &_dt)
Definition: frameacc.hpp:173
static IMETHOD VectorAcc Zero()
Definition: frameacc.hpp:120
IMETHOD VectorAcc & operator=(const VectorAcc &arg)
Definition: frameacc.hpp:93
TwistAcc()
Definition: frameacc.hpp:216
Definition: frameacc.hpp:110
Definition: frameacc.hpp:165
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:213
represents both translational and rotational velocities.
Definition: frames.hpp:720
VectorAcc()
Definition: frameacc.hpp:68
IMETHOD void SetToZero(Vector &v)
Definition: frames.hpp:1062
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
Definition: frameacc.hpp:394
VectorAcc(const Vector &_p, const Vector &_v)
Definition: frameacc.hpp:70
RotationAcc(const Rotation &_R, const Vector &_w, const Vector &_dw)
Definition: frameacc.hpp:119
Definition: articulatedbodyinertia.cpp:28
IMETHOD friend VectorAcc operator-(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.hpp:29
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
Rotation R
rotation matrix
Definition: frameacc.hpp:113
IMETHOD friend bool Equal(const VectorAcc &r1, const VectorAcc &r2, double eps)
Definition: frameacc.hpp:160
Definition: frameacc.hpp:61
RotationAcc(const Rotation &_R)
Definition: frameacc.hpp:118
Vector v
velocity vector
Definition: frameacc.hpp:65
IMETHOD friend VectorAcc operator+(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.hpp:25
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:40
Definition: frameacc.hpp:209
IMETHOD doubleAcc Norm()
Definition: frameacc.hpp:130
Vector p
position vector
Definition: frameacc.hpp:64
VectorAcc(const Vector &_p)
Definition: frameacc.hpp:69
FrameAcc(const Frame &_T)
Definition: frameacc.hpp:172
IMETHOD VectorAcc & operator+=(const VectorAcc &arg)
Definition: frameacc.hpp:107
FrameAcc(const RotationAcc &_M, const VectorAcc &_p)
Definition: frameacc.hpp:175
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
IMETHOD VectorAcc & operator-=(const VectorAcc &arg)
Definition: frameacc.hpp:113
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:169
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:212
TwistAcc(const VectorAcc &_vel, const VectorAcc &_rot)
Definition: frameacc.hpp:217
IMETHOD friend VectorAcc operator*(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.hpp:53
IMETHOD void ReverseSign()
Definition: frameacc.hpp:124
IMETHOD friend doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
Definition: frameacc.hpp:138