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" 38 IMETHOD doubleVel
diff(
const doubleVel& a,
const doubleVel& b,
double dt=1.0) {
39 return doubleVel((b.t-a.t)/dt,(b.grad-a.grad)/dt);
42 IMETHOD doubleVel
addDelta(
const doubleVel& a,
const doubleVel&da,
double dt=1.0) {
43 return doubleVel(a.t+da.t*dt,a.grad+da.grad*dt);
106 IMETHOD
void ReverseSign();
169 IMETHOD
void DoRotX(
const doubleVel& angle);
171 IMETHOD
void DoRotZ(
const doubleVel& angle);
215 M(_T.M,_t.rot),p(_T.p,_t.vel) {}
233 IMETHOD
Frame GetFrame()
const;
234 IMETHOD
Twist GetTwist()
const;
297 IMETHOD
void ReverseSign();
316 IMETHOD
Twist GetTwistDot()
const;
VectorVel(const Vector &_p)
Definition: framevel.hpp:96
VectorAcc operator/(const VectorAcc &r1, double r2)
Definition: frameacc.hpp:181
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
TwistVel()
Definition: framevel.hpp:263
FrameVel(const RotationVel &_M, const VectorVel &_p)
Definition: framevel.hpp:217
VectorVel vel
Definition: framevel.hpp:258
VectorVel rot
Definition: framevel.hpp:259
TwistVel(const VectorVel &_vel, const VectorVel &_rot)
Definition: framevel.hpp:264
FrameVel()
Definition: framevel.hpp:209
IMETHOD VectorVel operator*(const Vector &arg) const
Definition: framevel.hpp:160
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 ...
Definition: frames.hpp:1101
FrameVel(const Frame &_T, const Twist &_t)
Definition: framevel.hpp:214
RotationVel(const Rotation &_R)
Definition: framevel.hpp:150
ArticulatedBodyInertia operator+(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same refer...
Definition: articulatedbodyinertia.cpp:55
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:1123
Frame value() const
Definition: framevel.hpp:221
Vector deriv() const
Definition: framevel.hpp:155
Definition: framevel.hpp:253
doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
Definition: frameacc.hpp:138
RotationVel(const Rotation &_R, const Vector &_w)
Definition: framevel.hpp:151
TwistVel(const Twist &p)
Definition: framevel.hpp:266
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: framevel.hpp:84
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
Definition: articulatedbodyinertia.cpp:28
VectorVel()
Definition: framevel.hpp:94
Rotation value() const
Definition: framevel.hpp:154
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
Vector p
Definition: framevel.hpp:91
Rotation R
Definition: framevel.hpp:146
RotationVel M
Definition: framevel.hpp:206
Definition: framevel.hpp:139
KDL::doubleVel derivType
Definition: framevel.hpp:60
Vector deriv() const
Definition: framevel.hpp:99
ArticulatedBodyInertia operator*(double a, const ArticulatedBodyInertia &I)
Scalar product: I_new = double * I_old.
Definition: articulatedbodyinertia.cpp:51
IMETHOD void posrandom(Vector &a)
Definition: frames.hpp:1237
Vector value() const
Definition: framevel.hpp:98
Vector w
Definition: framevel.hpp:147
double valueType
Definition: framevel.hpp:59
RotationVel()
Definition: framevel.hpp:149
Vector v
Definition: framevel.hpp:92
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
VectorVel p
Definition: framevel.hpp:207
Twist deriv() const
Definition: framevel.hpp:222
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:1150
Definition: framevel.hpp:197
Twist value() const
Definition: framevel.hpp:268
IMETHOD void random(Vector &a)
addDelta operator for displacement rotational velocity.
Definition: frames.hpp:1208
ArticulatedBodyInertia operator-(const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib)
Definition: articulatedbodyinertia.cpp:62
Rall1d< double > doubleVel
Definition: framevel.hpp:36