Kindr
Kinematics and Dynamics for Robotics
kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ > Class Template Reference

#include <Twist.hpp>

Inheritance diagram for kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >:
Inheritance graph

Public Types

typedef PrimType_ Scalar
 
typedef PositionDiff_ PositionDiff
 
typedef RotationDiff_ RotationDiff
 
typedef Eigen::Matrix< PrimType_, 6, 1 > Vector6
 
typedef Eigen::Matrix< PrimType_, 3, 1 > Vector3
 

Public Member Functions

 Twist ()=default
 
 Twist (const PositionDiff &position, const RotationDiff &rotation)
 
PositionDiff_ & getTranslationalVelocity ()
 
const PositionDiff_ & getTranslationalVelocity () const
 
RotationDiff_ & getRotationalVelocity ()
 
const RotationDiff_ & getRotationalVelocity () const
 
template<typename Rotation_ >
Vector6 getVector (const RotationBase< Rotation_ > &rotation) const
 
TwistsetZero ()
 Sets twist to zero. More...
 
- Public Member Functions inherited from kindr::PoseDiffBase< Twist< PrimType_, PositionDiff_, RotationDiff_ > >
 PoseDiffBase ()=default
 Default constructor. More...
 
 PoseDiffBase (const Twist< PrimType_, PositionDiff_, RotationDiff_ > &)=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 Twist< PrimType_, PositionDiff_, RotationDiff_ > & ()
 Gets the derived time derivative of a pose. More...
 
 operator const Twist< PrimType_, PositionDiff_, RotationDiff_ > & () const
 Gets the derived time derivative of a pose. More...
 
const Twist< PrimType_, PositionDiff_, RotationDiff_ > & derived () const
 Gets the derived time derivative of a pose. More...
 
Twist< PrimType_, PositionDiff_, RotationDiff_ > & setZero ()
 Sets twist to zero. More...
 

Friends

std::ostream & operator<< (std::ostream &out, const Twist &twist)
 Used for printing the object with std::cout. More...
 

Detailed Description

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
class kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >

Definition at line 40 of file Twist.hpp.

Member Typedef Documentation

◆ PositionDiff

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
typedef PositionDiff_ kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::PositionDiff

Definition at line 44 of file Twist.hpp.

◆ RotationDiff

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
typedef RotationDiff_ kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::RotationDiff

Definition at line 45 of file Twist.hpp.

◆ Scalar

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
typedef PrimType_ kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::Scalar

Definition at line 43 of file Twist.hpp.

◆ Vector3

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
typedef Eigen::Matrix<PrimType_,3, 1> kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::Vector3

Definition at line 47 of file Twist.hpp.

◆ Vector6

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
typedef Eigen::Matrix<PrimType_, 6, 1> kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::Vector6

Definition at line 46 of file Twist.hpp.

Constructor & Destructor Documentation

◆ Twist() [1/2]

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::Twist ( )
default

◆ Twist() [2/2]

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::Twist ( const PositionDiff position,
const RotationDiff rotation 
)
inline

Definition at line 51 of file Twist.hpp.

Member Function Documentation

◆ getRotationalVelocity() [1/2]

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
RotationDiff_& kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::getRotationalVelocity ( )
inline

Definition at line 64 of file Twist.hpp.

◆ getRotationalVelocity() [2/2]

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
const RotationDiff_& kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::getRotationalVelocity ( ) const
inline

Definition at line 68 of file Twist.hpp.

◆ getTranslationalVelocity() [1/2]

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
PositionDiff_& kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::getTranslationalVelocity ( )
inline

Definition at line 56 of file Twist.hpp.

◆ getTranslationalVelocity() [2/2]

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
const PositionDiff_& kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::getTranslationalVelocity ( ) const
inline

Definition at line 60 of file Twist.hpp.

◆ getVector()

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
template<typename Rotation_ >
Vector6 kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::getVector ( const RotationBase< Rotation_ > &  rotation) const
inline

Definition at line 73 of file Twist.hpp.

◆ setZero()

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
Twist& kindr::Twist< PrimType_, PositionDiff_, RotationDiff_ >::setZero ( )
inline

Sets twist to zero.

Returns
reference

Definition at line 92 of file Twist.hpp.

Friends And Related Function Documentation

◆ operator<<

template<typename PrimType_, typename PositionDiff_, typename RotationDiff_>
std::ostream& operator<< ( std::ostream &  out,
const Twist< PrimType_, PositionDiff_, RotationDiff_ > &  twist 
)
friend

Used for printing the object with std::cout.

Returns
std::stream object

Definition at line 84 of file Twist.hpp.


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