KDL::TwistAcc Class Reference

#include <frameacc.hpp>

List of all members.

Public Member Functions
Twist	GetTwist () const
Twist	GetTwistDot () const
TwistAcc &	operator+= (const TwistAcc &arg)
TwistAcc &	operator-= (const TwistAcc &arg)
TwistAcc	RefPoint (const VectorAcc &v_base_AB)
void	ReverseSign ()
	TwistAcc (const VectorAcc &_vel, const VectorAcc &_rot)
	TwistAcc ()
Static Public Member Functions
static TwistAcc	Zero ()
Public Attributes
VectorAcc	rot
	rotational velocity and its 1st and 2nd derivative
VectorAcc	vel
	translational velocity and its 1st and 2nd derivative
Friends
bool	Equal (const TwistAcc &a, const Twist &b, double eps=epsilon)
bool	Equal (const Twist &a, const TwistAcc &b, double eps=epsilon)
bool	Equal (const TwistAcc &a, const TwistAcc &b, double eps=epsilon)
class	FrameAcc
TwistAcc	operator* (const doubleAcc &lhs, const TwistAcc &rhs)
TwistAcc	operator* (const TwistAcc &lhs, const doubleAcc &rhs)
TwistAcc	operator* (double lhs, const TwistAcc &rhs)
TwistAcc	operator* (const TwistAcc &lhs, double rhs)
TwistAcc	operator+ (const TwistAcc &lhs, const TwistAcc &rhs)
TwistAcc	operator- (const TwistAcc &arg)
TwistAcc	operator- (const TwistAcc &lhs, const TwistAcc &rhs)
TwistAcc	operator/ (const TwistAcc &lhs, const doubleAcc &rhs)
TwistAcc	operator/ (const TwistAcc &lhs, double rhs)
class	RotationAcc
void	SetToZero (TwistAcc &v)

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Detailed Description

Definition at line 192 of file frameacc.hpp.

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Constructor & Destructor Documentation

KDL::TwistAcc::TwistAcc

(

)

[inline]

Definition at line 199 of file frameacc.hpp.

Referenced by RefPoint(), and Zero().

KDL::TwistAcc::TwistAcc	(	const VectorAcc &	_vel,
		const VectorAcc &	_rot
	)			[inline]

Definition at line 200 of file frameacc.hpp.

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Member Function Documentation

Twist KDL::TwistAcc::GetTwist

(

)

const [inline]

Definition at line 578 of file frameacc.inl.

References KDL::VectorAcc::p, rot, and vel.

Twist KDL::TwistAcc::GetTwistDot

(

)

const [inline]

Definition at line 582 of file frameacc.inl.

References rot, KDL::VectorAcc::v, and vel.

TwistAcc & KDL::TwistAcc::operator+=

(

const TwistAcc &

arg

)

[inline]

Definition at line 463 of file frameacc.inl.

References rot, and vel.

TwistAcc & KDL::TwistAcc::operator-=

(

const TwistAcc &

arg

)

[inline]

Definition at line 456 of file frameacc.inl.

References rot, and vel.

TwistAcc KDL::TwistAcc::RefPoint

(

const VectorAcc &

v_base_AB

)

[inline]

Definition at line 446 of file frameacc.inl.

References rot, TwistAcc(), and vel.

void KDL::TwistAcc::ReverseSign

(

)

[inline]

Definition at line 440 of file frameacc.inl.

References KDL::VectorAcc::ReverseSign(), rot, and vel.

TwistAcc KDL::TwistAcc::Zero

(

)

[inline, static]

Definition at line 434 of file frameacc.inl.

References TwistAcc(), and KDL::VectorAcc::Zero().

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Friends And Related Function Documentation

bool Equal	(	const TwistAcc &	a,
		const Twist &	b,
		double	eps = epsilon
	)			[friend]

bool Equal	(	const Twist &	a,
		const TwistAcc &	b,
		double	eps = epsilon
	)			[friend]

bool Equal	(	const TwistAcc &	a,
		const TwistAcc &	b,
		double	eps = epsilon
	)			[friend]

friend class FrameAcc [friend]

Definition at line 239 of file frameacc.hpp.

TwistAcc operator*	(	const doubleAcc &	lhs,
		const TwistAcc &	rhs
	)			[friend]

TwistAcc operator*	(	const TwistAcc &	lhs,
		const doubleAcc &	rhs
	)			[friend]

TwistAcc operator*	(	double	lhs,
		const TwistAcc &	rhs
	)			[friend]

TwistAcc operator*	(	const TwistAcc &	lhs,
		double	rhs
	)			[friend]

TwistAcc operator+	(	const TwistAcc &	lhs,
		const TwistAcc &	rhs
	)			[friend]

TwistAcc operator-

(

const TwistAcc &

arg

)

[friend]

TwistAcc operator-	(	const TwistAcc &	lhs,
		const TwistAcc &	rhs
	)			[friend]

TwistAcc operator/	(	const TwistAcc &	lhs,
		const doubleAcc &	rhs
	)			[friend]

TwistAcc operator/	(	const TwistAcc &	lhs,
		double	rhs
	)			[friend]

friend class RotationAcc [friend]

Definition at line 238 of file frameacc.hpp.

void SetToZero

(

TwistAcc &

v

)

[friend]

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Member Data Documentation

VectorAcc KDL::TwistAcc::rot

rotational velocity and its 1st and 2nd derivative

Definition at line 196 of file frameacc.hpp.

Referenced by KDL::Equal(), GetTwist(), GetTwistDot(), KDL::FrameAcc::Inverse(), KDL::RotationAcc::Inverse(), KDL::FrameAcc::operator*(), KDL::RotationAcc::operator*(), KDL::operator*(), KDL::operator+(), operator+=(), KDL::operator-(), operator-=(), KDL::operator/(), KDL::operator<<(), RefPoint(), and ReverseSign().

VectorAcc KDL::TwistAcc::vel

translational velocity and its 1st and 2nd derivative

Definition at line 195 of file frameacc.hpp.

Referenced by KDL::Equal(), GetTwist(), GetTwistDot(), KDL::FrameAcc::Inverse(), KDL::RotationAcc::Inverse(), KDL::FrameAcc::operator*(), KDL::RotationAcc::operator*(), KDL::operator*(), KDL::operator+(), operator+=(), KDL::operator-(), operator-=(), KDL::operator/(), KDL::operator<<(), RefPoint(), and ReverseSign().

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The documentation for this class was generated from the following files:

• frameacc.hpp
• frameacc.inl