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23 #ifndef KDL_FRAMEVEL_H
24 #define KDL_FRAMEVEL_H
26 #include "utilities/utility.h"
27 #include "utilities/rall1d.h"
28 #include "utilities/traits.h"
39 return doubleVel((b.t-a.t)/dt,(b.grad-a.grad)/dt);
43 return doubleVel(a.t+da.t*dt,a.grad+da.grad*dt);
215 M(_T.
M,_t.rot),
p(_T.
p,_t.vel) {}
TwistVel(const VectorVel &_vel, const VectorVel &_rot)
Definition: framevel.hpp:264
IMETHOD VectorVel & operator-=(const VectorVel &arg)
Definition: framevel.inl:305
static IMETHOD RotationVel RotY(const doubleVel &angle)
Definition: framevel.inl:181
IMETHOD friend TwistVel operator/(const TwistVel &lhs, double rhs)
RotationVel()
Definition: framevel.hpp:149
Vector value() const
Definition: framevel.hpp:98
Vector w
Definition: framevel.hpp:147
IMETHOD friend doubleVel dot(const VectorVel &lhs, const Vector &rhs)
IMETHOD friend TwistVel operator*(const TwistVel &lhs, double rhs)
RotationVel(const Rotation &_R, const Vector &_w)
Definition: framevel.hpp:151
IMETHOD Twist GetTwist() const
Definition: framevel.inl:528
Twist deriv() const
Definition: framevel.hpp:222
IMETHOD friend doubleVel dot(const VectorVel &lhs, const VectorVel &rhs)
IMETHOD friend bool Equal(const RotationVel &r1, const Rotation &r2, double eps)
IMETHOD void posrandom(doubleVel &F)
Definition: framevel.hpp:70
IMETHOD void DoRotY(const doubleVel &angle)
Definition: framevel.inl:177
Definition: framevel.hpp:256
IMETHOD TwistVel RefPoint(const VectorVel &v_base_AB)
Definition: framevel.inl:390
IMETHOD friend void SetToZero(TwistVel &v)
Rotation R
Definition: framevel.hpp:146
IMETHOD RotationVel Inverse() const
Definition: framevel.inl:135
IMETHOD friend bool Equal(const Rotation &r1, const RotationVel &r2, double eps)
IMETHOD void random(doubleVel &F)
Definition: framevel.hpp:66
static IMETHOD RotationVel Rot(const Vector &rotvec, const doubleVel &angle)
Definition: framevel.inl:194
FrameVel(const Frame &_T)
Definition: framevel.hpp:211
IMETHOD friend bool Equal(const FrameVel &r1, const FrameVel &r2, double eps)
FrameVel(const RotationVel &_M, const VectorVel &_p)
Definition: framevel.hpp:217
IMETHOD friend bool Equal(const TwistVel &a, const TwistVel &b, double eps)
double valueType
Definition: framevel.hpp:59
RotationVel M
Definition: framevel.hpp:206
IMETHOD VectorVel operator*(const VectorVel &arg) const
Definition: framevel.inl:46
Vector v
Definition: framevel.hpp:92
Twist deriv() const
Definition: framevel.hpp:271
VectorVel()
Definition: framevel.hpp:94
IMETHOD FrameVel & operator=(const Frame &arg)
Definition: framevel.inl:70
IMETHOD Vector addDelta(const Vector &p_w_a, const Vector &p_w_da, double dt=1)
adds vector da to vector a.
Definition: articulatedbodyinertia.cpp:28
IMETHOD FrameVel Inverse() const
Definition: framevel.inl:65
IMETHOD friend bool Equal(const Twist &a, const TwistVel &b, double eps)
static IMETHOD RotationVel Rot2(const Vector &rotvec, const doubleVel &angle)
Definition: framevel.inl:203
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
IMETHOD friend TwistVel operator-(const TwistVel &lhs, const TwistVel &rhs)
IMETHOD friend bool Equal(const FrameVel &r1, const Frame &r2, double eps)
represents both translational and rotational velocities.
Definition: frames.hpp:720
IMETHOD doubleVel Norm() const
Definition: framevel.inl:318
IMETHOD VectorVel & operator+=(const VectorVel &arg)
Definition: framevel.inl:300
static IMETHOD RotationVel RotX(const doubleVel &angle)
Definition: framevel.inl:173
IMETHOD void ReverseSign()
Definition: framevel.inl:384
IMETHOD TwistVel & operator-=(const TwistVel &arg)
Definition: framevel.inl:400
IMETHOD friend VectorVel operator+(const VectorVel &r1, const VectorVel &r2)
IMETHOD void ReverseSign()
Definition: framevel.inl:314
IMETHOD friend bool Equal(const TwistVel &a, const Twist &b, double eps)
IMETHOD VectorVel UnitZ() const
Definition: framevel.inl:125
IMETHOD friend VectorVel operator/(const VectorVel &r1, double r2)
Definition: framevel.hpp:144
static IMETHOD TwistVel Zero()
Definition: framevel.inl:378
Rall1d< double > doubleVel
Definition: framevel.hpp:56
Definition: frames.hpp:570
IMETHOD friend TwistVel operator*(const TwistVel &lhs, const doubleVel &rhs)
IMETHOD friend doubleVel dot(const Vector &lhs, const VectorVel &rhs)
IMETHOD Frame GetFrame() const
Definition: framevel.inl:85
IMETHOD friend TwistVel operator*(const doubleVel &lhs, const TwistVel &rhs)
IMETHOD TwistVel & operator+=(const TwistVel &arg)
Definition: framevel.inl:407
KDL::doubleVel derivType
Definition: framevel.hpp:60
IMETHOD friend TwistVel operator-(const TwistVel &arg)
IMETHOD friend bool Equal(const VectorVel &r1, const Vector &r2, double eps)
Frame value() const
Definition: framevel.hpp:221
IMETHOD friend void SetToZero(VectorVel &v)
static IMETHOD RotationVel RotZ(const doubleVel &angle)
Definition: framevel.inl:189
TwistVel(const Twist &p, const Twist &v)
Definition: framevel.hpp:265
Definition: framevel.hpp:89
VectorVel rot
Definition: framevel.hpp:259
VectorVel(const Vector &_p)
Definition: framevel.hpp:96
VectorVel p
Definition: framevel.hpp:207
IMETHOD Twist GetTwist() const
Definition: framevel.inl:89
IMETHOD friend TwistVel operator+(const TwistVel &lhs, const TwistVel &rhs)
IMETHOD VectorVel operator*(const VectorVel &arg) const
Definition: framevel.inl:154
FrameVel()
Definition: framevel.hpp:209
Rotation value() const
Definition: framevel.hpp:154
static IMETHOD RotationVel Identity()
Definition: framevel.inl:131
IMETHOD void DoRotZ(const doubleVel &angle)
Definition: framevel.inl:185
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
static IMETHOD FrameVel Identity()
Definition: framevel.inl:28
FrameVel(const Frame &_T, const Twist &_t)
Definition: framevel.hpp:214
IMETHOD friend TwistVel operator*(double lhs, const TwistVel &rhs)
IMETHOD friend VectorVel operator*(const VectorVel &r1, const VectorVel &r2)
VectorVel vel
Definition: framevel.hpp:258
Vector p
Definition: framevel.hpp:91
Vector deriv() const
Definition: framevel.hpp:99
Vector deriv() const
Definition: framevel.hpp:155
IMETHOD VectorVel & operator=(const VectorVel &arg)
Definition: framevel.inl:290
RotationVel(const Rotation &_R)
Definition: framevel.hpp:150
IMETHOD VectorVel UnitY() const
Definition: framevel.inl:121
IMETHOD friend bool Equal(const Frame &r1, const FrameVel &r2, double eps)
Definition: framevel.hpp:204
IMETHOD friend bool Equal(const Vector &r1, const VectorVel &r2, double eps)
IMETHOD friend VectorVel operator*(const Rotation &R, const VectorVel &x)
static IMETHOD VectorVel Zero()
Definition: framevel.inl:311
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
determines the difference of vector b with vector a.
IMETHOD Twist GetTwistDot() const
Definition: framevel.inl:532
IMETHOD void DoRotX(const doubleVel &angle)
Definition: framevel.inl:169
IMETHOD VectorVel UnitX() const
Definition: framevel.inl:117
IMETHOD RotationVel & operator=(const RotationVel &arg)
Definition: framevel.inl:106
IMETHOD friend bool Equal(const VectorVel &r1, const VectorVel &r2, double eps)
TwistVel()
Definition: framevel.hpp:263
TwistVel(const Twist &p)
Definition: framevel.hpp:266
Twist value() const
Definition: framevel.hpp:268
IMETHOD friend VectorVel operator-(const VectorVel &r1, const VectorVel &r2)
VectorVel(const Vector &_p, const Vector &_v)
Definition: framevel.hpp:95
IMETHOD friend TwistVel operator/(const TwistVel &lhs, const doubleVel &rhs)
represents rotations in 3 dimensional space.
Definition: frames.hpp:302
IMETHOD friend bool Equal(const RotationVel &r1, const RotationVel &r2, double eps)