KDL::FrameVel Class Reference

#include <framevel.hpp>

List of all members.

Public Member Functions
Twist	deriv () const
	FrameVel (const RotationVel &_M, const VectorVel &_p)
	FrameVel (const Frame &_T, const Twist &_t)
	FrameVel (const Frame &_T)
	FrameVel ()
Frame	GetFrame () const
Twist	GetTwist () const
TwistVel	Inverse (const Twist &arg) const
TwistVel	Inverse (const TwistVel &arg) const
VectorVel	Inverse (const Vector &arg) const
VectorVel	Inverse (const VectorVel &arg) const
FrameVel	Inverse () const
TwistVel	operator* (const Twist &arg) const
TwistVel	operator* (const TwistVel &arg) const
VectorVel	operator* (const Vector &arg) const
VectorVel	operator* (const VectorVel &arg) const
FrameVel &	operator= (const FrameVel &arg)
FrameVel &	operator= (const Frame &arg)
Frame	value () const
Static Public Member Functions
static FrameVel	Identity ()
Public Attributes
RotationVel	M
VectorVel	p
Friends
bool	Equal (const FrameVel &r1, const Frame &r2, double eps=epsilon)
bool	Equal (const Frame &r1, const FrameVel &r2, double eps=epsilon)
bool	Equal (const FrameVel &r1, const FrameVel &r2, double eps=epsilon)
FrameVel	operator* (const FrameVel &f1, const Frame &f2)
FrameVel	operator* (const Frame &f1, const FrameVel &f2)
FrameVel	operator* (const FrameVel &f1, const FrameVel &f2)

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Detailed Description

Definition at line 183 of file framevel.hpp.

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Constructor & Destructor Documentation

KDL::FrameVel::FrameVel

(

)

[inline]

Definition at line 195 of file framevel.hpp.

Referenced by Identity(), and Inverse().

KDL::FrameVel::FrameVel

(

const Frame &

_T

)

[inline, explicit]

Definition at line 197 of file framevel.hpp.

KDL::FrameVel::FrameVel	(	const Frame &	_T,
		const Twist &	_t
	)			[inline]

Definition at line 200 of file framevel.hpp.

KDL::FrameVel::FrameVel	(	const RotationVel &	_M,
		const VectorVel &	_p
	)			[inline]

Definition at line 203 of file framevel.hpp.

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Member Function Documentation

Twist KDL::FrameVel::deriv

(

)

const [inline]

Definition at line 208 of file framevel.hpp.

References KDL::RotationVel::deriv(), KDL::VectorVel::deriv(), M, and p.

Frame KDL::FrameVel::GetFrame

(

)

const [inline]

Definition at line 86 of file framevel.inl.

References M, KDL::VectorVel::p, p, and KDL::RotationVel::R.

Twist KDL::FrameVel::GetTwist

(

)

const [inline]

Definition at line 90 of file framevel.inl.

References M, p, KDL::VectorVel::v, and KDL::RotationVel::w.

FrameVel KDL::FrameVel::Identity

(

)

[inline, static]

Definition at line 29 of file framevel.inl.

References FrameVel(), KDL::RotationVel::Identity(), and KDL::VectorVel::Zero().

Referenced by KDL::ChainFkSolverVel_recursive::JntToCart().

TwistVel KDL::FrameVel::Inverse

(

const Twist &

arg

)

const [inline]

Definition at line 521 of file framevel.inl.

References KDL::RotationVel::Inverse(), M, p, KDL::Twist::rot, KDL::TwistVel::rot, KDL::Twist::vel, and KDL::TwistVel::vel.

TwistVel KDL::FrameVel::Inverse

(

const TwistVel &

arg

)

const [inline]

Definition at line 513 of file framevel.inl.

References KDL::RotationVel::Inverse(), M, p, KDL::TwistVel::rot, and KDL::TwistVel::vel.

VectorVel KDL::FrameVel::Inverse

(

const Vector &

arg

)

const [inline]

Definition at line 61 of file framevel.inl.

References KDL::RotationVel::Inverse(), M, and p.

VectorVel KDL::FrameVel::Inverse

(

const VectorVel &

arg

)

const [inline]

Definition at line 56 of file framevel.inl.

References KDL::RotationVel::Inverse(), M, and p.

FrameVel KDL::FrameVel::Inverse

(

)

const [inline]

Definition at line 66 of file framevel.inl.

References FrameVel(), KDL::RotationVel::Inverse(), M, and p.

TwistVel KDL::FrameVel::operator*

(

const Twist &

arg

)

const [inline]

Definition at line 505 of file framevel.inl.

References M, p, KDL::Twist::rot, KDL::TwistVel::rot, KDL::Twist::vel, and KDL::TwistVel::vel.

TwistVel KDL::FrameVel::operator*

(

const TwistVel &

arg

)

const [inline]

Definition at line 497 of file framevel.inl.

References M, p, KDL::TwistVel::rot, and KDL::TwistVel::vel.

VectorVel KDL::FrameVel::operator*

(

const Vector &

arg

)

const [inline]

Definition at line 51 of file framevel.inl.

References M, and p.

VectorVel KDL::FrameVel::operator*

(

const VectorVel &

arg

)

const [inline]

Definition at line 47 of file framevel.inl.

References M, and p.

FrameVel & KDL::FrameVel::operator=

(

const FrameVel &

arg

)

[inline]

Definition at line 23 of file framevel.inl.

References M, and p.

FrameVel & KDL::FrameVel::operator=

(

const Frame &

arg

)

[inline]

Definition at line 71 of file framevel.inl.

References KDL::Frame::M, M, KDL::Frame::p, and p.

Frame KDL::FrameVel::value

(

)

const [inline]

Definition at line 207 of file framevel.hpp.

References M, p, KDL::VectorVel::value(), and KDL::RotationVel::value().

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Friends And Related Function Documentation

bool Equal	(	const FrameVel &	r1,
		const Frame &	r2,
		double	eps = epsilon
	)			[friend]

bool Equal	(	const Frame &	r1,
		const FrameVel &	r2,
		double	eps = epsilon
	)			[friend]

bool Equal	(	const FrameVel &	r1,
		const FrameVel &	r2,
		double	eps = epsilon
	)			[friend]

FrameVel operator*	(	const FrameVel &	f1,
		const Frame &	f2
	)			[friend]

FrameVel operator*	(	const Frame &	f1,
		const FrameVel &	f2
	)			[friend]

FrameVel operator*	(	const FrameVel &	f1,
		const FrameVel &	f2
	)			[friend]

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Member Data Documentation

RotationVel KDL::FrameVel::M

Definition at line 192 of file framevel.hpp.

Referenced by KDL::addDelta(), deriv(), KDL::diff(), KDL::Equal(), GetFrame(), GetTwist(), Inverse(), operator*(), KDL::operator*(), KDL::operator<<(), operator=(), KDL::posrandom(), KDL::random(), and value().

VectorVel KDL::FrameVel::p

Definition at line 193 of file framevel.hpp.

Referenced by KDL::addDelta(), deriv(), KDL::diff(), KDL::Equal(), GetFrame(), GetTwist(), Inverse(), operator*(), KDL::operator*(), KDL::operator<<(), operator=(), KDL::posrandom(), KDL::random(), and value().

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

• framevel.hpp
• framevel.inl