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18 #ifndef KDL_FRAMESVEL_IO
19 #define KDL_FRAMESVEL_IO
21 #include "utilities/utility_io.h"
22 #include "utilities/rall1d_io.h"
30 inline std::ostream&
operator << (std::ostream& os,
const VectorVel& r) {
31 os <<
"{" << r.p <<
"," << r.v <<
"}" << std::endl;
35 inline std::ostream&
operator << (std::ostream& os,
const RotationVel& r) {
36 os <<
"{" << std::endl << r.R <<
"," <<std::endl << r.w << std::endl <<
"}" << std::endl;
41 inline std::ostream&
operator << (std::ostream& os,
const FrameVel& r) {
42 os <<
"{" << std::endl << r.M <<
"," << std::endl << r.p << std::endl <<
"}" << std::endl;
47 os <<
"{" << std::endl << r.
vel <<
"," << std::endl << r.
rot << std::endl <<
"}" << std::endl;
Vector w
Definition: framevel.hpp:147
FrameVel operator*(const FrameVel &lhs, const FrameVel &rhs)
Definition: framevel.inl:33
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
Definition: framevel.hpp:256
Rotation R
Definition: framevel.hpp:146
Vector p
origine of the Frame
Definition: frames.hpp:572
double Normalize(double eps=epsilon)
Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v.
Definition: frames.cpp:148
RotationVel M
Definition: framevel.hpp:206
Vector v
Definition: framevel.hpp:92
Definition: articulatedbodyinertia.cpp:28
VectorVel operator/(const VectorVel &r1, double r2)
Definition: framevel.inl:278
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
represents both translational and rotational velocities.
Definition: frames.hpp:720
bool Equal(const FrameVel &r1, const FrameVel &r2, double eps)
Definition: framevel.inl:75
Definition: framevel.hpp:144
Rall1d< double > doubleVel
Definition: framevel.hpp:56
Definition: frames.hpp:570
void SetToZero(VectorVel &v)
Definition: framevel.inl:239
Definition: framevel.hpp:89
VectorVel rot
Definition: framevel.hpp:259
Vector vel
The velocity of that point.
Definition: frames.hpp:722
VectorVel p
Definition: framevel.hpp:207
IMETHOD Rotation Rot(const Vector &axis_a_b)
axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the ...
Definition: frames.inl:1100
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
std::ostream & operator<<(std::ostream &os, const VectorAcc &r)
Definition: frameacc_io.hpp:49
VectorVel vel
Definition: framevel.hpp:258
VectorVel operator+(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.inl:210
Vector p
Definition: framevel.hpp:91
Definition: framevel.hpp:204
IMETHOD doubleVel dot(const VectorVel &lhs, const VectorVel &rhs)
Definition: framevel.inl:357
VectorVel operator-(const VectorVel &r1, const VectorVel &r2)
Definition: framevel.inl:214
represents rotations in 3 dimensional space.
Definition: frames.hpp:302