KDL::Twist Class Reference

represents both translational and rotational velocities. More...

#include <frames.hpp>

List of all members.

Public Member Functions
	Twist ()
	The default constructor initialises to Zero via the constructor of Vector.
	Twist (const Vector &_vel, const Vector &_rot)
Twist &	operator-= (const Twist &arg)
Twist &	operator+= (const Twist &arg)
double &	operator() (int i)
	index-based access to components, first vel(0..2), then rot(3..5)
double	operator() (int i) const
double	operator[] (int index) const
double &	operator[] (int index)
void	ReverseSign ()
	Reverses the sign of the twist.
Twist	RefPoint (const Vector &v_base_AB) const
Static Public Member Functions
static Twist	Zero ()
Public Attributes
Vector	vel
	The velocity of that point.
Vector	rot
	The rotational velocity of that point.
Friends
class	Rotation
class	Frame
Twist	operator* (const Twist &lhs, double rhs)
Twist	operator* (double lhs, const Twist &rhs)
Twist	operator/ (const Twist &lhs, double rhs)
Twist	operator+ (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &arg)
double	dot (const Twist &lhs, const Wrench &rhs)
double	dot (const Wrench &rhs, const Twist &lhs)
void	SetToZero (Twist &v)
bool	Equal (const Twist &a, const Twist &b, double eps=epsilon)
bool	operator== (const Twist &a, const Twist &b)
	The literal equality operator==(), also identical.
bool	operator!= (const Twist &a, const Twist &b)
	The literal inequality operator!=().

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Detailed Description

represents both translational and rotational velocities.

This class represents a twist. A twist is the combination of translational velocity and rotational velocity applied at one point.

Definition at line 677 of file frames.hpp.

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Constructor & Destructor Documentation

KDL::Twist::Twist

(

)

[inline]

The default constructor initialises to Zero via the constructor of Vector.

Definition at line 684 of file frames.hpp.

KDL::Twist::Twist	(	const Vector &	_vel,
		const Vector &	_rot
	)		[inline]

Definition at line 686 of file frames.hpp.

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Member Function Documentation

double & Twist::operator()

(

int

i

)

[inline]

index-based access to components, first vel(0..2), then rot(3..5)

Definition at line 338 of file frames.inl.

References rot.

Referenced by operator[]().

double KDL::Twist::operator()

(

int

i

)

const [inline]

index-based access to components, first vel(0..2), then rot(3..5) For use with a const Twist

Twist& KDL::Twist::operator+=

(

const Twist &

arg

)

[inline]

Twist& KDL::Twist::operator-=

(

const Twist &

arg

)

[inline]

double KDL::Twist::operator[]

(

int

index

)

const [inline]

Definition at line 697 of file frames.hpp.

References operator()().

double& KDL::Twist::operator[]

(

int

index

)

[inline]

Definition at line 702 of file frames.hpp.

References operator()().

Twist KDL::Twist::RefPoint

(

const Vector &

v_base_AB

)

const [inline]

Changes the reference point of the twist. The vector v_base_AB is expressed in the same base as the twist The vector v_base_AB is a vector from the old point to the new point.

Complexity : 6M+6A

Referenced by KDL::changeRefPoint(), KDL::ChainJntToJacSolver::JntToJac(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::Segment::twist().

void KDL::Twist::ReverseSign

(

)

[inline]

Reverses the sign of the twist.

static Twist KDL::Twist::Zero

(

)

[inline, static]

Returns:

a zero Twist : Twist(Vector::Zero(),Vector::Zero())

Referenced by KDL::Joint::twist(), and iTaSC::MovingFrame::updateCoordinates().

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Friends And Related Function Documentation

double dot	(	const Twist &	lhs,
		const Wrench &	rhs
	)		[friend]

double dot	(	const Wrench &	rhs,
		const Twist &	lhs
	)		[friend]

bool Equal	(	const Twist &	a,
		const Twist &	b,
		double	eps = epsilon
	)		[friend]

do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval

friend class Frame [friend]

Definition at line 744 of file frames.hpp.

bool operator!=	(	const Twist &	a,
		const Twist &	b
	)		[friend]

The literal inequality operator!=().

Twist operator*	(	double	lhs,
		const Twist &	rhs
	)		[friend]

Twist operator*	(	const Twist &	lhs,
		double	rhs
	)		[friend]

Twist operator+	(	const Twist &	lhs,
		const Twist &	rhs
	)		[friend]

Twist operator-

(

const Twist &

arg

)

[friend]

Twist operator-	(	const Twist &	lhs,
		const Twist &	rhs
	)		[friend]

Twist operator/	(	const Twist &	lhs,
		double	rhs
	)		[friend]

bool operator==	(	const Twist &	a,
		const Twist &	b
	)		[friend]

The literal equality operator==(), also identical.

friend class Rotation [friend]

Definition at line 743 of file frames.hpp.

void SetToZero

(

Twist &

v

)

[friend]

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Member Data Documentation

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 680 of file frames.hpp.

Referenced by iTaSC::getMaxEndEffectorChange(), and KDL::Frame2::Integrate().

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 679 of file frames.hpp.

Referenced by iTaSC::getMaxEndEffectorChange(), and KDL::Frame2::Integrate().

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

• frames.hpp
• frames.inl