KDL::Twist Class Reference

represents both translational and rotational velocities. More...

#include <src/frames.hpp>

Collaboration diagram for KDL::Twist:

[legend]

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
	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.
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(.,.
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

KDL::Twist::Twist

(

)

[inline]

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

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

---

Member Function Documentation

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

double & KDL::Twist::operator()

(

int

i

)

[inline]

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

Referenced by operator[]().

Twist & KDL::Twist::operator+=

(

const Twist &

arg

)

[inline]

Twist & KDL::Twist::operator-=

(

const Twist &

arg

)

[inline]

double& KDL::Twist::operator[]

(

int

index

)

[inline]

References operator()().

double KDL::Twist::operator[]

(

int

index

)

const [inline]

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::Jacobian::changeRefPoint(), KDL::TreeJntToJacSolver::JntToJac(), and KDL::Segment::twist().

void KDL::Twist::ReverseSign

(

)

[inline]

Reverses the sign of the twist.

Twist KDL::Twist::Zero

(

)

[inline, static]

Returns:

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

Referenced by KDL::Trajectory_Stationary::Acc(), KDL::Path_Point::Acc(), KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL(), KDL::Joint::twist(), KDL::Trajectory_Stationary::Vel(), and KDL::Path_Point::Vel().

---

Friends And Related Function Documentation

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

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

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

The literal inequality operator!=().

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.

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.

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]

void SetToZero

(

Twist &

v

)

[friend]

---

Member Data Documentation

Vector KDL::Twist::rot

The rotational velocity of that point.

Referenced by KDL::operator*(), KDL::Path_Line::Path_Line(), and KDL::Jacobian::setColumn().

Vector KDL::Twist::vel

The velocity of that point.

Referenced by KDL::operator*(), KDL::Path_Line::Path_Line(), and KDL::Jacobian::setColumn().

---

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

• src/frames.hpp
• src/frames.cpp