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)
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.

Definition at line 679 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 686 of file frames.hpp.

References rot, and vel.

Referenced by KDL::FrameVel::deriv(), KDL::TwistVel::deriv(), Equal, KDL::VectorVel::operator*, operator+=(), and KDL::Joint::twist().

◆ Twist() [2/2]

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

inline

Definition at line 688 of file frames.hpp.

References rot, and vel.

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 347 of file frames.hpp.

References angle(), and Rotation.

Referenced by operator[](), operator[](), and ReverseSign().

◆ 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 356 of file frames.hpp.

References angle().

◆ operator+=()

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

inline

Definition at line 340 of file frames.hpp.

References Rotation, and Twist().

◆ operator-=()

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

inline

Definition at line 333 of file frames.hpp.

References Rotation, and v.

◆ operator[]() [1/2]

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

inline

Definition at line 704 of file frames.hpp.

References operator()().

◆ operator[]() [2/2]

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

inline

Definition at line 699 of file frames.hpp.

References operator()().

◆ 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 323 of file frames.hpp.

References i, rhs, and Rotation.

Referenced by KDL::Jacobian::changeRefPoint, iTaSC::ConstraintSet::closeLoop(), KDL::TreeJntToJacSolver::JntToJac(), KDL::Segment::twist(), KDL::Segment::twist(), and KDL::Segment::twist().

◆ ReverseSign()

void Twist::ReverseSign ( )

inline

Reverses the sign of the twist.

Definition at line 317 of file frames.hpp.

References i, operator()(), operator*, and v.

◆ Zero()

Twist Twist::Zero ( )

inlinestatic

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

Definition at line 311 of file frames.hpp.

References operator=(), Rotation, and setValue().

Referenced by KDL::Joint::twist().

◆ dot [1/2]

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

friend

Definition at line 1053 of file frames.hpp.

References i.

◆ dot [2/2]

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

friend

Definition at line 1057 of file frames.hpp.

References rhs.

◆ 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

Definition at line 1086 of file frames.hpp.

References KDL::addDelta(), Frame, IMETHOD, Rotation, and Twist().

◆ Frame

friend class Frame

friend

Definition at line 746 of file frames.hpp.

References Frame.

Referenced by Equal, and Frame.

◆ operator!=

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

friend

The literal inequality operator!=().

Definition at line 1380 of file frames.hpp.

◆ operator* [1/2]

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

friend

Definition at line 366 of file frames.hpp.

References angle(), KDL::Rot(), and Rotation.

Referenced by ReverseSign().

◆ operator* [2/2]

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

friend

Definition at line 371 of file frames.hpp.

References angle(), and Rotation.

◆ operator+

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

friend

Definition at line 382 of file frames.hpp.

◆ operator- [1/2]

Twist operator- ( const Twist & arg )

friend

Definition at line 393 of file frames.hpp.

References eps, and KDL::epsilon.

◆ operator- [2/2]

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

friend

Definition at line 387 of file frames.hpp.

◆ operator/

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

friend

Definition at line 376 of file frames.hpp.

◆ operator==

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

friend

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

Definition at line 1371 of file frames.hpp.

◆ Rotation

friend class Rotation

friend

Definition at line 745 of file frames.hpp.

References Rotation.

Referenced by Equal, operator()(), operator*, operator*, operator+=(), operator-=(), RefPoint(), Rotation, and Zero().

◆ SetToZero

void SetToZero ( Twist & v )

friend

Definition at line 1108 of file frames.hpp.

Member Data Documentation

◆ rot

Vector KDL::Twist::rot

The rotational velocity of that point.

Definition at line 682 of file frames.hpp.

Referenced by iTaSC::Armature::getMaxEndEffectorChange(), Twist(), and Twist().

◆ vel

Vector KDL::Twist::vel

The velocity of that point.

Definition at line 681 of file frames.hpp.

Referenced by iTaSC::Armature::getMaxEndEffectorChange(), Twist(), and Twist().

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Twist() [1/2]

◆ Twist() [2/2]

Member Function Documentation

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator+=()

◆ operator-=()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ RefPoint()

◆ ReverseSign()

◆ Zero()

Friends And Related Symbol Documentation

◆ dot [1/2]

◆ dot [2/2]

◆ Equal

◆ Frame

◆ operator!=

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/

◆ operator==

◆ Rotation

◆ SetToZero

Member Data Documentation

◆ rot

◆ vel