Orocos KDL
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KDL::Twist Class Reference

represents both translational and rotational velocities. More...

#include <frames.hpp>

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

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)
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.
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.
bool Equal (const Twist &a, const Twist &b, double eps=epsilon)
 do not use operator == because the definition of Equal(.,.) is slightly different. It compares whether the 2 arguments are equal in an eps-interval
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!=().

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.

Constructor & Destructor Documentation

◆ Twist() [1/2]

KDL::Twist::Twist ( )
inline

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

◆ Twist() [2/2]

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

Member Function Documentation

◆ operator()() [1/2]

double & KDL::Twist::operator() ( int i)
inline

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

◆ operator()() [2/2]

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

◆ operator+=()

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

◆ operator-=()

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

◆ operator[]() [1/2]

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

◆ operator[]() [2/2]

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

◆ RefPoint()

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

◆ ReverseSign()

void KDL::Twist::ReverseSign ( )
inline

Reverses the sign of the twist.

◆ Zero()

Twist KDL::Twist::Zero ( )
inlinestatic
Returns
a zero Twist : Twist(Vector::Zero(),Vector::Zero())

◆ 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 = 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

◆ Frame

friend class Frame
friend

◆ 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

◆ SetToZero

void SetToZero ( Twist & v)
friend

Member Data Documentation

◆ rot

Vector KDL::Twist::rot

The rotational velocity of that point.

◆ vel

Vector KDL::Twist::vel

The velocity of that point.

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