Kindr
Kinematics and Dynamics for Robotics

Base class that defines the interface of the time derivative of a pose of a rigid body. More...
#include <PoseDiffBase.hpp>
Public Member Functions  
PoseDiffBase ()=default  
Default constructor. More...  
PoseDiffBase (const Derived_ &)=delete  
Constructor from derived time derivative of a pose. This constructor has been deleted because the abstract class does not contain any data. More...  
operator Derived_ & ()  
Gets the derived time derivative of a pose. More...  
operator const Derived_ & () const  
Gets the derived time derivative of a pose. More...  
const Derived_ &  derived () const 
Gets the derived time derivative of a pose. More...  
Derived_ &  setZero () 
Sets twist to zero. More...  
Base class that defines the interface of the time derivative of a pose of a rigid body.
This class defines the interface of the time derivative of a pose of a rigid body. The time derivative of a pose of a rigid body describes the linear and angular velocities of the rigid body in space.
Derived_  the derived class that should implement the time derivative of the pose. 
Definition at line 42 of file PoseDiffBase.hpp.

default 
Default constructor.
Creates a time derivative of a pose with all derivatives set to zero.

delete 
Constructor from derived time derivative of a pose. This constructor has been deleted because the abstract class does not contain any data.

inline 
Gets the derived time derivative of a pose.
(only for advanced users)
Definition at line 78 of file PoseDiffBase.hpp.

inline 
Gets the derived time derivative of a pose.
(only for advanced users)
Definition at line 69 of file PoseDiffBase.hpp.

inline 
Gets the derived time derivative of a pose.
(only for advanced users)
Definition at line 60 of file PoseDiffBase.hpp.
Derived_& kindr::PoseDiffBase< Derived_ >::setZero  (  ) 
Sets twist to zero.