Kindr
Kinematics and Dynamics for Robotics
kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ > Class Template Reference

#include <Twist.hpp>

Inheritance diagram for kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >:
Inheritance graph

Public Types

typedef PrimType_ Scalar
 
typedef Base::PositionDiff PositionDiff
 
typedef Base::RotationDiff RotationDiff
 
typedef Base::Vector6 Vector6
 
typedef Base::Vector3 Vector3
 
- Public Types inherited from kindr::Twist< PrimType_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > >
typedef PrimType_ Scalar
 
typedef Velocity< PrimType_, 3 > PositionDiff
 
typedef GlobalAngularVelocity< PrimType_ > RotationDiff
 
typedef Eigen::Matrix< PrimType_, 6, 1 > Vector6
 
typedef Eigen::Matrix< PrimType_, 3, 1 > Vector3
 

Public Member Functions

 TwistLinearVelocityGlobalAngularVelocity ()=default
 
 TwistLinearVelocityGlobalAngularVelocity (const PositionDiff &positionDiff, const RotationDiff &rotationDiff)
 
 TwistLinearVelocityGlobalAngularVelocity (const Vector3 &linearVelocity, const Vector3 &globalAngularVelocity)
 
 TwistLinearVelocityGlobalAngularVelocity (const Vector6 &vector6)
 
Vector6 getVector () const
 
void setVector (const Vector6 &vector6)
 
- Public Member Functions inherited from kindr::Twist< PrimType_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > >
 Twist ()=default
 
 Twist (const PositionDiff &position, const RotationDiff &rotation)
 
Velocity< PrimType_, 3 > & getTranslationalVelocity ()
 
const Velocity< PrimType_, 3 > & getTranslationalVelocity () const
 
GlobalAngularVelocity< PrimType_ > & getRotationalVelocity ()
 
const GlobalAngularVelocity< PrimType_ > & getRotationalVelocity () const
 
Vector6 getVector (const RotationBase< Rotation_ > &rotation) const
 
TwistsetZero ()
 Sets twist to zero. More...
 
- Public Member Functions inherited from kindr::PoseDiffBase< Twist< PrimType_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > > >
 PoseDiffBase ()=default
 Default constructor. More...
 
 PoseDiffBase (const Twist< PrimType_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > > &)=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_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > > & ()
 Gets the derived time derivative of a pose. More...
 
 operator const Twist< PrimType_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > > & () const
 Gets the derived time derivative of a pose. More...
 
const Twist< PrimType_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > > & derived () const
 Gets the derived time derivative of a pose. More...
 
Twist< PrimType_, Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > > & setZero ()
 Sets twist to zero. More...
 

Private Types

typedef Twist< PrimType_, kindr::Velocity< PrimType_, 3 >, GlobalAngularVelocity< PrimType_ > > Base
 

Detailed Description

template<typename PrimType_>
class kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >

Definition at line 181 of file Twist.hpp.

Member Typedef Documentation

◆ Base

template<typename PrimType_ >
typedef Twist<PrimType_, kindr::Velocity<PrimType_, 3>, GlobalAngularVelocity<PrimType_> > kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::Base
private

Definition at line 186 of file Twist.hpp.

◆ PositionDiff

template<typename PrimType_ >
typedef Base::PositionDiff kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::PositionDiff

Definition at line 189 of file Twist.hpp.

◆ RotationDiff

template<typename PrimType_ >
typedef Base::RotationDiff kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::RotationDiff

Definition at line 190 of file Twist.hpp.

◆ Scalar

template<typename PrimType_ >
typedef PrimType_ kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::Scalar

Definition at line 188 of file Twist.hpp.

◆ Vector3

template<typename PrimType_ >
typedef Base::Vector3 kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::Vector3

Definition at line 192 of file Twist.hpp.

◆ Vector6

template<typename PrimType_ >
typedef Base::Vector6 kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::Vector6

Definition at line 191 of file Twist.hpp.

Constructor & Destructor Documentation

◆ TwistLinearVelocityGlobalAngularVelocity() [1/4]

template<typename PrimType_ >
kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::TwistLinearVelocityGlobalAngularVelocity ( )
default

◆ TwistLinearVelocityGlobalAngularVelocity() [2/4]

template<typename PrimType_ >
kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::TwistLinearVelocityGlobalAngularVelocity ( const PositionDiff positionDiff,
const RotationDiff rotationDiff 
)
inline

Definition at line 196 of file Twist.hpp.

◆ TwistLinearVelocityGlobalAngularVelocity() [3/4]

template<typename PrimType_ >
kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::TwistLinearVelocityGlobalAngularVelocity ( const Vector3 linearVelocity,
const Vector3 globalAngularVelocity 
)
inline

Definition at line 200 of file Twist.hpp.

◆ TwistLinearVelocityGlobalAngularVelocity() [4/4]

template<typename PrimType_ >
kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::TwistLinearVelocityGlobalAngularVelocity ( const Vector6 vector6)
inline

Sets the twist by a 6D-vector [linear velocity, angular velocity]'

Definition at line 206 of file Twist.hpp.

Member Function Documentation

◆ getVector()

template<typename PrimType_ >
Vector6 kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::getVector ( ) const
inline
Returns
the twist in a 6D-vector [linear velocity, angular velocity]'

Definition at line 213 of file Twist.hpp.

◆ setVector()

template<typename PrimType_ >
void kindr::TwistLinearVelocityGlobalAngularVelocity< PrimType_ >::setVector ( const Vector6 vector6)
inline

Sets the twist by a 6D-vector [linear velocity, angular velocity]'

Definition at line 222 of file Twist.hpp.


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