Kindr
Kinematics and Dynamics for Robotics
PoseDiffBase.hpp
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2  * Copyright (c) 2013, Christian Gehring, Hannes Sommer, Paul Furgale, Remo Diethelm
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28 
29 #pragma once
30 
31 namespace kindr {
32 
41 template<typename Derived_>
42 class PoseDiffBase {
43  public:
48  PoseDiffBase() = default;
49 
53  PoseDiffBase(const Derived_&) = delete; // on purpose!!
54 
60  operator Derived_& () {
61  return static_cast<Derived_&>(*this);
62  }
63 
69  operator const Derived_& () const {
70  return static_cast<const Derived_&>(*this);
71  }
72 
78  const Derived_& derived() const {
79  return static_cast<const Derived_&>(*this);
80  }
81 
85  Derived_& setZero();
86 };
87 
88 
89 } // namespace kindr
Derived_ & setZero()
Sets twist to zero.
const Derived_ & derived() const
Gets the derived time derivative of a pose.
PoseDiffBase()=default
Default constructor.
Base class that defines the interface of the time derivative of a pose of a rigid body...