KDL::RotationVel Class Reference

#include <framevel.hpp>

List of all members.

Public Member Functions

Vector deriv () const
void DoRotX (const doubleVel &angle)
void DoRotY (const doubleVel &angle)
void DoRotZ (const doubleVel &angle)
TwistVel Inverse (const Twist &arg) const
TwistVel Inverse (const TwistVel &arg) const
VectorVel Inverse (const Vector &arg) const
VectorVel Inverse (const VectorVel &arg) const
RotationVel 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
RotationVel & operator= (const Rotation &arg)
RotationVel & operator= (const RotationVel &arg)
 RotationVel (const Rotation &_R, const Vector &_w)
 RotationVel (const Rotation &_R)
 RotationVel ()
VectorVel UnitX () const
VectorVel UnitY () const
VectorVel UnitZ () const
Rotation value () const

Static Public Member Functions

static RotationVel Identity ()
static RotationVel Rot (const Vector &rotvec, const doubleVel &angle)
static RotationVel Rot2 (const Vector &rotvec, const doubleVel &angle)
static RotationVel RotX (const doubleVel &angle)
static RotationVel RotY (const doubleVel &angle)
static RotationVel RotZ (const doubleVel &angle)

Public Attributes

Rotation R
Vector w

Friends

bool Equal (const RotationVel &r1, const Rotation &r2, double eps=epsilon)
bool Equal (const Rotation &r1, const RotationVel &r2, double eps=epsilon)
bool Equal (const RotationVel &r1, const RotationVel &r2, double eps=epsilon)
RotationVel operator* (const RotationVel &r1, const Rotation &r2)
RotationVel operator* (const Rotation &r1, const RotationVel &r2)
RotationVel operator* (const RotationVel &r1, const RotationVel &r2)

Detailed Description

Definition at line 125 of file framevel.hpp.

Constructor & Destructor Documentation

KDL::RotationVel::RotationVel (  )  [inline]

Definition at line 135 of file framevel.hpp.

Referenced by Identity(), Inverse(), Rot(), Rot2(), RotX(), RotY(), and RotZ().

KDL::RotationVel::RotationVel ( const Rotation &  _R  )  [inline, explicit]

Definition at line 136 of file framevel.hpp.

KDL::RotationVel::RotationVel ( const Rotation &  _R,
const Vector &  _w 
) [inline]

Definition at line 137 of file framevel.hpp.

Member Function Documentation

Vector KDL::RotationVel::deriv (  )  const [inline]

Definition at line 141 of file framevel.hpp.

References w.

Referenced by KDL::FrameVel::deriv().

void KDL::RotationVel::DoRotX ( const doubleVel &  angle  )  [inline]

Definition at line 170 of file framevel.inl.

References KDL::Rotation::DoRotX(), KDL::Rall1d< T, V, S >::grad, R, KDL::Rall1d< T, V, S >::t, and w.

void KDL::RotationVel::DoRotY ( const doubleVel &  angle  )  [inline]

Definition at line 178 of file framevel.inl.

References KDL::Rotation::DoRotY(), KDL::Rall1d< T, V, S >::grad, R, KDL::Rall1d< T, V, S >::t, and w.

void KDL::RotationVel::DoRotZ ( const doubleVel &  angle  )  [inline]

Definition at line 186 of file framevel.inl.

References KDL::Rotation::DoRotZ(), KDL::Rall1d< T, V, S >::grad, R, KDL::Rall1d< T, V, S >::t, and w.

RotationVel KDL::RotationVel::Identity (  )  [inline, static]

Definition at line 132 of file framevel.inl.

References KDL::Rotation::Identity(), RotationVel(), and KDL::Vector::Zero().

Referenced by KDL::FrameVel::Identity().

TwistVel KDL::RotationVel::Inverse ( const Twist &  arg  )  const [inline]

Definition at line 486 of file framevel.inl.

References Inverse(), KDL::Twist::rot, and KDL::Twist::vel.

TwistVel KDL::RotationVel::Inverse ( const TwistVel &  arg  )  const [inline]

Definition at line 476 of file framevel.inl.

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

VectorVel KDL::RotationVel::Inverse ( const Vector &  arg  )  const [inline]

Definition at line 147 of file framevel.inl.

References KDL::Rotation::Inverse(), R, and w.

VectorVel KDL::RotationVel::Inverse ( const VectorVel &  arg  )  const [inline]

Definition at line 140 of file framevel.inl.

References KDL::Rotation::Inverse(), KDL::VectorVel::p, R, KDL::VectorVel::v, and w.

RotationVel KDL::RotationVel::Inverse (  )  const [inline]

Definition at line 136 of file framevel.inl.

References KDL::Rotation::Inverse(), R, RotationVel(), and w.

Referenced by Inverse(), and KDL::FrameVel::Inverse().

TwistVel KDL::RotationVel::operator* ( const Twist &  arg  )  const [inline]

Definition at line 491 of file framevel.inl.

References KDL::Twist::rot, and KDL::Twist::vel.

TwistVel KDL::RotationVel::operator* ( const TwistVel &  arg  )  const [inline]

Definition at line 481 of file framevel.inl.

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

VectorVel KDL::RotationVel::operator* ( const Vector &  arg  )  const [inline]

Definition at line 160 of file framevel.inl.

References R, and w.

VectorVel KDL::RotationVel::operator* ( const VectorVel &  arg  )  const [inline]

Definition at line 155 of file framevel.inl.

References KDL::VectorVel::p, R, KDL::VectorVel::v, and w.

RotationVel & KDL::RotationVel::operator= ( const Rotation &  arg  )  [inline]

Definition at line 112 of file framevel.inl.

References R, w, and KDL::Vector::Zero().

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

Definition at line 107 of file framevel.inl.

References R, and w.

RotationVel KDL::RotationVel::Rot ( const Vector &  rotvec,
const doubleVel &  angle 
) [inline, static]

Definition at line 195 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, KDL::Vector::Normalize(), KDL::Rotation::Rot2(), RotationVel(), and KDL::Rall1d< T, V, S >::t.

RotationVel KDL::RotationVel::Rot2 ( const Vector &  rotvec,
const doubleVel &  angle 
) [inline, static]

Definition at line 204 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, KDL::Rotation::Rot2(), RotationVel(), and KDL::Rall1d< T, V, S >::t.

RotationVel KDL::RotationVel::RotX ( const doubleVel &  angle  )  [inline, static]

Definition at line 174 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, RotationVel(), KDL::Rotation::RotX(), and KDL::Rall1d< T, V, S >::t.

RotationVel KDL::RotationVel::RotY ( const doubleVel &  angle  )  [inline, static]

Definition at line 182 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, RotationVel(), KDL::Rotation::RotX(), and KDL::Rall1d< T, V, S >::t.

RotationVel KDL::RotationVel::RotZ ( const doubleVel &  angle  )  [inline, static]

Definition at line 190 of file framevel.inl.

References KDL::Rall1d< T, V, S >::grad, RotationVel(), KDL::Rotation::RotZ(), and KDL::Rall1d< T, V, S >::t.

VectorVel KDL::RotationVel::UnitX (  )  const [inline]

Definition at line 118 of file framevel.inl.

References R, KDL::Rotation::UnitX(), and w.

VectorVel KDL::RotationVel::UnitY (  )  const [inline]

Definition at line 122 of file framevel.inl.

References R, KDL::Rotation::UnitY(), and w.

VectorVel KDL::RotationVel::UnitZ (  )  const [inline]

Definition at line 126 of file framevel.inl.

References R, KDL::Rotation::UnitZ(), and w.

Rotation KDL::RotationVel::value (  )  const [inline]

Definition at line 140 of file framevel.hpp.

References R.

Referenced by KDL::FrameVel::value().

Friends And Related Function Documentation

bool Equal ( const RotationVel &  r1,
const Rotation &  r2,
double  eps = epsilon 
) [friend]
bool Equal ( const Rotation &  r1,
const RotationVel &  r2,
double  eps = epsilon 
) [friend]
bool Equal ( const RotationVel &  r1,
const RotationVel &  r2,
double  eps = epsilon 
) [friend]
RotationVel operator* ( const RotationVel &  r1,
const Rotation &  r2 
) [friend]
RotationVel operator* ( const Rotation &  r1,
const RotationVel &  r2 
) [friend]
RotationVel operator* ( const RotationVel &  r1,
const RotationVel &  r2 
) [friend]

Member Data Documentation

Rotation KDL::RotationVel::R

Definition at line 132 of file framevel.hpp.

Referenced by KDL::addDelta(), KDL::diff(), DoRotX(), DoRotY(), DoRotZ(), KDL::Equal(), KDL::FrameVel::GetFrame(), Inverse(), operator*(), KDL::operator*(), KDL::operator<<(), operator=(), KDL::posrandom(), KDL::random(), UnitX(), UnitY(), UnitZ(), and value().

Vector KDL::RotationVel::w

Definition at line 133 of file framevel.hpp.

Referenced by KDL::addDelta(), deriv(), KDL::diff(), DoRotX(), DoRotY(), DoRotZ(), KDL::Equal(), KDL::FrameVel::GetTwist(), Inverse(), operator*(), KDL::operator*(), KDL::operator<<(), operator=(), KDL::posrandom(), KDL::random(), UnitX(), UnitY(), and UnitZ().

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