Kindr
Kinematics and Dynamics for Robotics
kindr::PoseDiffBase< Derived_ > Class Template Reference

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...
 

Detailed Description

template<typename Derived_>
class kindr::PoseDiffBase< Derived_ >

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.

Template Parameters
Derived_the derived class that should implement the time derivative of the pose.

Definition at line 42 of file PoseDiffBase.hpp.

Constructor & Destructor Documentation

◆ PoseDiffBase() [1/2]

template<typename Derived_>
kindr::PoseDiffBase< Derived_ >::PoseDiffBase ( )
default

Default constructor.

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

◆ PoseDiffBase() [2/2]

template<typename Derived_>
kindr::PoseDiffBase< Derived_ >::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.

Member Function Documentation

◆ derived()

template<typename Derived_>
const Derived_& kindr::PoseDiffBase< Derived_ >::derived ( ) const
inline

Gets the derived time derivative of a pose.

(only for advanced users)

Returns
the derived time derivative of a pose

Definition at line 78 of file PoseDiffBase.hpp.

◆ operator const Derived_ &()

template<typename Derived_>
kindr::PoseDiffBase< Derived_ >::operator const Derived_ & ( ) const
inline

Gets the derived time derivative of a pose.

(only for advanced users)

Returns
the derived time derivative of a pose

Definition at line 69 of file PoseDiffBase.hpp.

◆ operator Derived_ &()

template<typename Derived_>
kindr::PoseDiffBase< Derived_ >::operator Derived_ & ( )
inline

Gets the derived time derivative of a pose.

(only for advanced users)

Returns
the derived time derivative of a pose

Definition at line 60 of file PoseDiffBase.hpp.

◆ setZero()

template<typename Derived_>
Derived_& kindr::PoseDiffBase< Derived_ >::setZero ( )

Sets twist to zero.

Returns
reference

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