KDL::Twist Class Reference

represents both translational and rotational velocities. More...

#include <frames.hpp>

Public Member Functions
double &	operator() (int i)
	index-based access to components, first vel(0..2), then rot(3..5) More...
double	operator() (int i) const
Twist &	operator+= (const Twist &arg)
Twist &	operator-= (const Twist &arg)
double &	operator[] (int index)
double	operator[] (int index) const
Twist	RefPoint (const Vector &v_base_AB) const
void	ReverseSign ()
	Reverses the sign of the twist. More...
	Twist ()
	The default constructor initialises to Zero via the constructor of Vector. More...
	Twist (const Vector &_vel, const Vector &_rot)

Static Public Member Functions
static Twist	Zero ()

Public Attributes
Vector	rot
	The rotational velocity of that point. More...
Vector	vel
	The velocity of that point. More...

Friends
double	dot (const Twist &lhs, const Wrench &rhs)
double	dot (const Wrench &rhs, const Twist &lhs)
bool	Equal (const Twist &a, const Twist &b, double eps)
class	Frame
bool	operator!= (const Twist &a, const Twist &b)
	The literal inequality operator!=(). More...
Twist	operator* (const Twist &lhs, const Twist &rhs)
	Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point. More...
Wrench	operator* (const Twist &lhs, const Wrench &rhs)
	Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point. More...
Twist	operator* (const Twist &lhs, double rhs)
Twist	operator* (double lhs, const Twist &rhs)
Twist	operator+ (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &arg)
Twist	operator- (const Twist &lhs, const Twist &rhs)
Twist	operator/ (const Twist &lhs, double rhs)
bool	operator== (const Twist &a, const Twist &b)
	The literal equality operator==(), also identical. More...
class	Rotation
void	SetToZero (Twist &v)

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 723 of file frames.hpp.

Constructor & Destructor Documentation

Twist() [1/2]

KDL::Twist::Twist ( )

inline

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

Definition at line 730 of file frames.hpp.

Twist() [2/2]

KDL::Twist::Twist ( const Vector &  _vel, const Vector &  _rot  )

inline

Definition at line 732 of file frames.hpp.

Member Function Documentation

operator()() [1/2]

double & Twist::operator() ( int  i )

inline

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

Definition at line 326 of file frames.inl.

operator()() [2/2]

double 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

Definition at line 335 of file frames.inl.

operator+=()

Twist & Twist::operator+= ( const Twist &  arg )

inline

Definition at line 319 of file frames.inl.

operator-=()

Twist & Twist::operator-= ( const Twist &  arg )

inline

Definition at line 312 of file frames.inl.

operator[]() [1/2]

double& KDL::Twist::operator[] ( int  index )

inline

Definition at line 748 of file frames.hpp.

operator[]() [2/2]

double KDL::Twist::operator[] ( int  index ) const

inline

Definition at line 743 of file frames.hpp.

RefPoint()

Twist 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

Definition at line 302 of file frames.inl.

ReverseSign()

void Twist::ReverseSign ( )

inline

Reverses the sign of the twist.

Definition at line 296 of file frames.inl.

Zero()

Twist Twist::Zero ( )

inlinestatic

Returns

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

Definition at line 290 of file frames.inl.

Friends And Related Function Documentation

dot [1/2]

double dot ( const Twist &  lhs, const Wrench &  rhs  )

friend

dot [2/2]

double dot ( const Wrench &  rhs, const Twist &  lhs  )

friend

Equal

bool Equal ( const Twist &  a, const Twist &  b, double  eps  )

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

Frame

friend class Frame

friend

Definition at line 793 of file frames.hpp.

operator!=

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

friend

The literal inequality operator!=().

operator* [1/4]

Twist operator* ( const Twist &  lhs, const Twist &  rhs  )

friend

Spatial cross product for 6d motion vectors, beware all of them have to be expressed in the same reference frame/point.

operator* [2/4]

Wrench operator* ( const Twist &  lhs, const Wrench &  rhs  )

friend

Spatial cross product for 6d force vectors, beware all of them have to be expressed in the same reference frame/point.

operator* [3/4]

Twist operator* ( const Twist &  lhs, double  rhs  )

friend

operator* [4/4]

Twist operator* ( double  lhs, const Twist &  rhs  )

friend

operator+

Twist operator+ ( const Twist &  lhs, const Twist &  rhs  )

friend

operator- [1/2]

Twist operator- ( const Twist &  arg )

friend

operator- [2/2]

Twist operator- ( const Twist &  lhs, const Twist &  rhs  )

friend

operator/

Twist operator/ ( const Twist &  lhs, double  rhs  )

friend

operator==

bool operator== ( const Twist &  a, const Twist &  b  )

friend

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

Rotation

friend class Rotation

friend

Definition at line 792 of file frames.hpp.

SetToZero

void SetToZero ( Twist &  v )

friend

Member Data Documentation

rot

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 726 of file frames.hpp.

vel

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 725 of file frames.hpp.

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

• frames.hpp
• frames.inl