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

Interface for an angular velocity. More...

#include <RotationDiffBase.hpp>

Public Member Functions

 RotationDiffBase ()=default
 Default constructor. More...
 
 RotationDiffBase (const Derived_ &)=delete
 Constructor from derived time derivative of a rotation. More...
 
 operator Derived_ & ()
 Gets the derived time derivative of a rotation. (only for advanced users) More...
 
 operator const Derived_ & () const
 Gets the derived time derivative of a rotation. (only for advanced users) More...
 
const Derived_ & derived () const
 Gets the derived time derivative of a rotation. (only for advanced users) More...
 
Derived_ & setZero ()
 Sets the time derivative of a rotation to zero. More...
 
template<typename OtherDerived_ >
Derived_ operator+ (const RotationDiffBase< OtherDerived_ > &other) const
 Addition of two time derivatives. More...
 
template<typename OtherDerived_ >
Derived_ operator- (const RotationDiffBase< OtherDerived_ > &other) const
 Subtraction of two time derivatives. More...
 
template<typename OtherDerived_ >
Derived_ & operator+= (const RotationDiffBase< OtherDerived_ > &other)
 Addition and assignment. More...
 
template<typename OtherDerived_ >
Derived_ & operator-= (const RotationDiffBase< OtherDerived_ > &other)
 Subtraction and assignment. More...
 

Detailed Description

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

Interface for an angular velocity.

This class defines the generic interface for an angular velocity. More precisely an interface to store and access the angular velocity of a rigid body is provided.

Template Parameters
Derived_the derived class that should implement the angular velocity.

Definition at line 74 of file RotationDiffBase.hpp.

Constructor & Destructor Documentation

◆ RotationDiffBase() [1/2]

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

Default constructor.

Creates a time derivative of a rotation with zero coefficients.

◆ RotationDiffBase() [2/2]

template<typename Derived_>
kindr::RotationDiffBase< Derived_ >::RotationDiffBase ( const Derived_ &  )
delete

Constructor from derived time derivative of a rotation.

This constructor has been deleted because the abstract class does not contain any data.

Member Function Documentation

◆ derived()

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

Gets the derived time derivative of a rotation. (only for advanced users)

Returns
the derived time derivative of a rotation

Definition at line 109 of file RotationDiffBase.hpp.

◆ operator const Derived_ &()

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

Gets the derived time derivative of a rotation. (only for advanced users)

Returns
the derived time derivative of a rotation

Definition at line 101 of file RotationDiffBase.hpp.

◆ operator Derived_ &()

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

Gets the derived time derivative of a rotation. (only for advanced users)

Returns
the derived time derivative of a rotation

Definition at line 93 of file RotationDiffBase.hpp.

◆ operator+()

template<typename Derived_>
template<typename OtherDerived_ >
Derived_ kindr::RotationDiffBase< Derived_ >::operator+ ( const RotationDiffBase< OtherDerived_ > &  other) const
inline

Addition of two time derivatives.

Returns
sum of the two time derivatives.

Definition at line 125 of file RotationDiffBase.hpp.

◆ operator+=()

template<typename Derived_>
template<typename OtherDerived_ >
Derived_& kindr::RotationDiffBase< Derived_ >::operator+= ( const RotationDiffBase< OtherDerived_ > &  other)

Addition and assignment.

Returns
sum of the two time derivatives.

◆ operator-()

template<typename Derived_>
template<typename OtherDerived_ >
Derived_ kindr::RotationDiffBase< Derived_ >::operator- ( const RotationDiffBase< OtherDerived_ > &  other) const
inline

Subtraction of two time derivatives.

Returns
result of the subtraction of the two time derivatives.

Definition at line 133 of file RotationDiffBase.hpp.

◆ operator-=()

template<typename Derived_>
template<typename OtherDerived_ >
Derived_& kindr::RotationDiffBase< Derived_ >::operator-= ( const RotationDiffBase< OtherDerived_ > &  other)

Subtraction and assignment.

Returns
result of the subtraction of the two time derivatives.

◆ setZero()

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

Sets the time derivative of a rotation to zero.

Returns
reference

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