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22 #include "utilities/utility_io.h"
23 #include "utilities/rall2d_io.h"
32 inline std::ostream&
operator << (std::ostream& os,
const VectorAcc& r) {
33 os <<
"{" << r.p <<
"," << r.v <<
"," << r.dv <<
"}" << std::endl;
37 inline std::ostream&
operator << (std::ostream& os,
const RotationAcc& r) {
38 os <<
"{" << std::endl << r.R <<
"," << std::endl << r.w <<
39 "," << std::endl << r.dw << std::endl <<
"}" << std::endl;
44 inline std::ostream&
operator << (std::ostream& os,
const FrameAcc& r) {
45 os <<
"{" << std::endl << r.M <<
"," << std::endl << r.p <<
"}" << std::endl;
48 inline std::ostream&
operator << (std::ostream& os,
const TwistAcc& r) {
49 os <<
"{" << std::endl << r.vel <<
"," << std::endl << r.rot << std::endl <<
"}" << std::endl;
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:239
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
Vector p
origine of the Frame
Definition: frames.hpp:572
Definition: frameacc.hpp:191
Vector w
angular velocity vector
Definition: frameacc.hpp:140
Definition: frameacc.hpp:136
Definition: articulatedbodyinertia.cpp:28
Vector p
position vector
Definition: frameacc.hpp:90
bool Equal(const VectorAcc &r1, const VectorAcc &r2, double eps)
Definition: frameacc.inl:159
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
Rotation R
rotation matrix
Definition: frameacc.hpp:139
represents both translational and rotational velocities.
Definition: frames.hpp:720
Vector v
velocity vector
Definition: frameacc.hpp:91
doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
Definition: frameacc.inl:137
Definition: frameacc.hpp:235
VectorAcc operator+(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.inl:24
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:195
Definition: frames.hpp:570
VectorAcc operator*(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.inl:52
VectorAcc operator/(const VectorAcc &r1, double r2)
Definition: frameacc.inl:180
Vector vel
The velocity of that point.
Definition: frames.hpp:722
Vector dw
angular acceration vector
Definition: frameacc.hpp:141
Definition: frameacc.hpp:87
Vector dv
acceleration vector
Definition: frameacc.hpp:92
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition: frameacc_io.hpp:49
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:66
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:238
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:194
VectorAcc operator-(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.inl:28
represents rotations in 3 dimensional space.
Definition: frames.hpp:301