Go to the documentation of this file.
33 #include "utilities/rall2d.h"
41 typedef Rall2d<double,double,double>
doubleAcc;
48 IMETHOD
bool Equal(
const FrameAcc& r1,
const FrameAcc& r2,
double eps=epsilon);
49 IMETHOD
bool Equal(
const Frame& r1,
const FrameAcc& r2,
double eps=epsilon);
50 IMETHOD
bool Equal(
const FrameAcc& r1,
const Frame& r2,
double eps=epsilon);
51 IMETHOD
bool Equal(
const RotationAcc& r1,
const RotationAcc& r2,
double eps=epsilon);
52 IMETHOD
bool Equal(
const Rotation& r1,
const RotationAcc& r2,
double eps=epsilon);
53 IMETHOD
bool Equal(
const RotationAcc& r1,
const Rotation& r2,
double eps=epsilon);
54 IMETHOD
bool Equal(
const TwistAcc& a,
const TwistAcc& b,
double eps=epsilon);
55 IMETHOD
bool Equal(
const Twist& a,
const TwistAcc& b,
double eps=epsilon);
56 IMETHOD
bool Equal(
const TwistAcc& a,
const Twist& b,
double eps=epsilon);
57 IMETHOD
bool Equal(
const VectorAcc& r1,
const VectorAcc& r2,
double eps=epsilon);
58 IMETHOD
bool Equal(
const Vector& r1,
const VectorAcc& r2,
double eps=epsilon);
59 IMETHOD
bool Equal(
const VectorAcc& r1,
const Vector& r2,
double eps=epsilon);
71 VectorAcc(
const Vector& _p,
const Vector& _v,
const Vector& _dv):
72 p(_p),
v(_v),
dv(_dv) {}
120 R(_R),
w(_w),
dw(_dw) {}
173 FrameAcc(
const Frame& _T,
const Twist& _t,
const Twist& _dt):
174 M(_T.
M,_t.rot,_dt.rot),
p(_T.
p,_t.vel,_dt.vel) {}
175 FrameAcc(
const RotationAcc& _M,
const VectorAcc& _p):
M(_M),
p(_p) {}
IMETHOD Twist GetTwist() const
Definition: frameacc.inl:578
IMETHOD VectorAcc & operator+=(const VectorAcc &arg)
Definition: frameacc.inl:106
IMETHOD friend VectorAcc operator-(const VectorAcc &r1, const VectorAcc &r2)
IMETHOD TwistAcc & operator+=(const TwistAcc &arg)
Definition: frameacc.inl:463
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:239
static IMETHOD TwistAcc Zero()
Definition: frameacc.inl:434
IMETHOD friend TwistAcc operator+(const TwistAcc &lhs, const TwistAcc &rhs)
IMETHOD friend TwistAcc operator-(const TwistAcc &lhs, const TwistAcc &rhs)
IMETHOD friend void SetToZero(TwistAcc &v)
IMETHOD VectorAcc operator*(const VectorAcc &arg) const
Definition: frameacc.inl:245
IMETHOD RotationAcc Inverse() const
Definition: frameacc.inl:224
IMETHOD friend doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
IMETHOD Twist GetTwistDot() const
Definition: frameacc.inl:582
IMETHOD friend bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps)
IMETHOD FrameAcc & operator=(const FrameAcc &arg)
Definition: frameacc.inl:338
Definition: frameacc.hpp:192
VectorAcc()
Definition: frameacc.hpp:94
Vector w
angular velocity vector
Definition: frameacc.hpp:140
Definition: frameacc.hpp:137
Definition: articulatedbodyinertia.cpp:28
IMETHOD friend VectorAcc operator*(const VectorAcc &r1, const VectorAcc &r2)
Vector p
position vector
Definition: frameacc.hpp:90
IMETHOD TwistAcc & operator-=(const TwistAcc &arg)
Definition: frameacc.inl:456
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
Rotation R
rotation matrix
Definition: frameacc.hpp:139
represents both translational and rotational velocities.
Definition: frames.hpp:720
RotationAcc()
Definition: frameacc.hpp:143
Vector v
velocity vector
Definition: frameacc.hpp:91
IMETHOD TwistAcc RefPoint(const VectorAcc &v_base_AB)
Definition: frameacc.inl:446
Definition: frameacc.hpp:236
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:195
IMETHOD friend VectorAcc operator/(const VectorAcc &r1, double r2)
IMETHOD Frame GetFrame() const
Definition: frameacc.inl:404
Definition: frames.hpp:570
static IMETHOD VectorAcc Zero()
Definition: frameacc.inl:119
IMETHOD Twist GetAccTwist() const
Definition: frameacc.inl:414
TwistAcc()
Definition: frameacc.hpp:242
static IMETHOD FrameAcc Identity()
Definition: frameacc.inl:344
IMETHOD Twist GetTwist() const
Definition: frameacc.inl:409
FrameAcc()
Definition: frameacc.hpp:197
IMETHOD VectorAcc & operator=(const VectorAcc &arg)
Definition: frameacc.inl:92
IMETHOD friend bool Equal(const TwistAcc &a, const TwistAcc &b, double eps)
Vector dw
angular acceration vector
Definition: frameacc.hpp:141
Definition: frameacc.hpp:88
IMETHOD FrameAcc Inverse() const
Definition: frameacc.inl:381
static IMETHOD RotationAcc Identity()
Definition: frameacc.inl:220
Vector dv
acceleration vector
Definition: frameacc.hpp:92
IMETHOD friend bool Equal(const RotationAcc &r1, const RotationAcc &r2, double eps)
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
IMETHOD void ReverseSign()
Definition: frameacc.inl:123
IMETHOD friend VectorAcc operator+(const VectorAcc &r1, const VectorAcc &r2)
IMETHOD VectorAcc operator*(const VectorAcc &arg) const
Definition: frameacc.inl:362
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:66
IMETHOD friend TwistAcc operator/(const TwistAcc &lhs, double rhs)
IMETHOD doubleAcc Norm()
Definition: frameacc.inl:129
IMETHOD friend bool Equal(const VectorAcc &r1, const VectorAcc &r2, double eps)
IMETHOD RotationAcc & operator=(const RotationAcc &arg)
Definition: frameacc.inl:207
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:238
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:194
IMETHOD VectorAcc & operator-=(const VectorAcc &arg)
Definition: frameacc.inl:112
IMETHOD friend TwistAcc operator*(const TwistAcc &lhs, double rhs)
IMETHOD void ReverseSign()
Definition: frameacc.inl:440
represents rotations in 3 dimensional space.
Definition: frames.hpp:302