KDL::Twist Class Reference

represents both translational and rotational velocities. More...

#include <frames.hpp>

List of all members.

Public Member Functions

double operator() (int i) const
 index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist
double & operator() (int i)
 index-based access to components, first vel(0..2), then rot(3..5)
Twist & operator+= (const Twist &arg)
Twist & operator-= (const Twist &arg)
double & operator[] (int index)
double operator[] (int index) const
Twist RefPoint (const Vector &v_base_AB) const
 Changes the reference point of the twist.
void ReverseSign ()
 Reverses the sign of the twist.
 Twist (const Vector &_vel, const Vector &_rot)
 Twist ()
 The default constructor initialises to Zero via the constructor of Vector.

Static Public Member Functions

static Twist Zero ()

Public Attributes

Vector rot
 The rotational velocity of that point.
Vector vel
 The velocity of that point.

Friends

double dot (const Wrench &rhs, const Twist &lhs)
double dot (const Twist &lhs, const Wrench &rhs)
bool Equal (const Twist &a, const Twist &b, double eps=epsilon)
 do not use operator == because the definition of Equal(.,.
class Frame
bool operator!= (const Twist &a, const Twist &b)
 The literal inequality operator!=().
Wrench operator* (const Twist &lhs, const Wrench &rhs)
 Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.
Twist operator* (const Twist &lhs, const Twist &rhs)
 Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.
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 &arg)
Twist operator- (const Twist &lhs, const Twist &rhs)
Twist operator/ (const Twist &lhs, double rhs)
bool operator== (const Twist &a, const Twist &b)
 The literal equality operator==(), also identical.
class Rotation
void SetToZero (Twist &v)

Detailed Description

represents both translational and rotational velocities.

This class represents a twist. A twist is the combination of translational velocity and rotational velocity applied at one point.

Definition at line 668 of file frames.hpp.

Constructor & Destructor Documentation

KDL::Twist::Twist (  )  [inline]

The default constructor initialises to Zero via the constructor of Vector.

Definition at line 675 of file frames.hpp.

Referenced by Zero().

KDL::Twist::Twist ( const Vector &  _vel,
const Vector &  _rot 
) [inline]

Definition at line 677 of file frames.hpp.

Member Function Documentation

double KDL::Twist::operator() ( int  i  )  const [inline]

index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist

Definition at line 330 of file frames.inl.

References rot, and vel.

double & KDL::Twist::operator() ( int  i  )  [inline]

index-based access to components, first vel(0..2), then rot(3..5)

Definition at line 321 of file frames.inl.

References rot, and vel.

Referenced by operator[]().

Twist & KDL::Twist::operator+= ( const Twist &  arg  )  [inline]

Definition at line 314 of file frames.inl.

References rot, and vel.

Twist & KDL::Twist::operator-= ( const Twist &  arg  )  [inline]

Definition at line 307 of file frames.inl.

References rot, and vel.

double& KDL::Twist::operator[] ( int  index  )  [inline]

Definition at line 693 of file frames.hpp.

References operator()().

double KDL::Twist::operator[] ( int  index  )  const [inline]

Definition at line 688 of file frames.hpp.

References operator()().

Twist KDL::Twist::RefPoint ( const Vector &  v_base_AB  )  const [inline]

Changes the reference point of the twist.

The vector v_base_AB is expressed in the same base as the twist The vector v_base_AB is a vector from the old point to the new point.

Complexity : 6M+6A

Definition at line 297 of file frames.inl.

Referenced by KDL::Jacobian::changeRefPoint(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::Segment::twist().

void KDL::Twist::ReverseSign (  )  [inline]

Reverses the sign of the twist.

Definition at line 291 of file frames.inl.

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

Twist KDL::Twist::Zero (  )  [inline, static]
Returns:
a zero Twist : Twist(Vector::Zero(),Vector::Zero())

Definition at line 285 of file frames.inl.

References Twist(), and KDL::Vector::Zero().

Referenced by KDL::Trajectory_Stationary::Acc(), KDL::Path_Point::Acc(), KDL::ChainIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL(), KDL::Joint::twist(), KDL::Trajectory_Stationary::Vel(), and KDL::Path_Point::Vel().

Friends And Related Function Documentation

double dot ( const Wrench &  rhs,
const Twist &  lhs 
) [friend]
double dot ( const Twist &  lhs,
const Wrench &  rhs 
) [friend]
bool Equal ( const Twist &  a,
const Twist &  b,
double  eps = epsilon 
) [friend]

do not use operator == because the definition of Equal(.,.

) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

friend class Frame [friend]

Definition at line 738 of file frames.hpp.

bool operator!= ( const Twist &  a,
const Twist &  b 
) [friend]

The literal inequality operator!=().

Wrench operator* ( const Twist &  lhs,
const Wrench &  rhs 
) [friend]

Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.

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

Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.

Twist operator* ( double  lhs,
const Twist &  rhs 
) [friend]
Twist operator* ( const Twist &  lhs,
double  rhs 
) [friend]
Twist operator+ ( const Twist &  lhs,
const Twist &  rhs 
) [friend]
Twist operator- ( const Twist &  arg  )  [friend]
Twist operator- ( const Twist &  lhs,
const Twist &  rhs 
) [friend]
Twist operator/ ( const Twist &  lhs,
double  rhs 
) [friend]
bool operator== ( const Twist &  a,
const Twist &  b 
) [friend]

The literal equality operator==(), also identical.

friend class Rotation [friend]

Definition at line 737 of file frames.hpp.

void SetToZero ( Twist &  v  )  [friend]

Member Data Documentation

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 671 of file frames.hpp.

Referenced by KDL::addDelta(), KDL::diff(), KDL::dot(), KDL::Equal(), KDL::Frame::Integrate(), KDL::FrameVel::Inverse(), KDL::RotationVel::Inverse(), KDL::Frame::Inverse(), KDL::Rotation::Inverse(), KDL::FrameAcc::Inverse(), KDL::RotationAcc::Inverse(), operator()(), KDL::FrameVel::operator*(), KDL::RotationVel::operator*(), KDL::Frame::operator*(), KDL::FrameAcc::operator*(), KDL::RotationAcc::operator*(), KDL::operator*(), KDL::operator+(), operator+=(), KDL::operator-(), operator-=(), KDL::operator/(), KDL::operator==(), KDL::Path_Line::Path_Line(), KDL::posrandom(), KDL::random(), ReverseSign(), KDL::Jacobian::setColumn(), and KDL::SetToZero().

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 670 of file frames.hpp.

Referenced by KDL::addDelta(), KDL::diff(), KDL::dot(), KDL::Equal(), KDL::Frame::Integrate(), KDL::FrameVel::Inverse(), KDL::RotationVel::Inverse(), KDL::Frame::Inverse(), KDL::Rotation::Inverse(), KDL::FrameAcc::Inverse(), KDL::RotationAcc::Inverse(), operator()(), KDL::FrameVel::operator*(), KDL::RotationVel::operator*(), KDL::Frame::operator*(), KDL::FrameAcc::operator*(), KDL::RotationAcc::operator*(), KDL::operator*(), KDL::operator+(), operator+=(), KDL::operator-(), operator-=(), KDL::operator/(), KDL::operator==(), KDL::Path_Line::Path_Line(), KDL::posrandom(), KDL::random(), ReverseSign(), KDL::Jacobian::setColumn(), and KDL::SetToZero().

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