MOVINGTRANSFORM3 Class Reference

A transformation between two rigid body poses. More...

#include <MovingTransform3.h>

Public Member Functions
	MOVINGTRANSFORM3 ()
	Sets up a default moving transform.
SACCEL	transform (const SACCEL &a) const
	Transforms a spatial acceleration (defined relative to the source frame's relative pose) to a spatial acceleration (relative to the target frame's relative pose) More...
MOVINGTRANSFORM3 &	operator= (const MOVINGTRANSFORM3 &source)
	Copies a moving transform to another.

Static Public Member Functions
static MOVINGTRANSFORM3	calc_transform (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, const SVELOCITY &vs, const SVELOCITY &vt)
	Computes the relative transformation between two moving poses. More...

Public Attributes
SVELOCITY	v
	the velocity of the original frame
ORIGIN3	r
	the r vector
ORIGIN3	rdot
	the time derivative of the r vector
MATRIX3	E
	the E matrix
MATRIX3	Edot
	the time derivative of the E matrix
boost::shared_ptr< const POSE3 >	source
	the "source" pose
boost::shared_ptr< const POSE3 >	target
	the "target" pose

Detailed Description

A transformation between two rigid body poses.

Member Function Documentation

MOVINGTRANSFORM3 MOVINGTRANSFORM3::calc_transform ( boost::shared_ptr< const POSE3 >  source, boost::shared_ptr< const POSE3 >  target, const SVELOCITY &  vs, const SVELOCITY &  vt  )

static

Computes the relative transformation between two moving poses.

Parameters

source	the source frame
target	the target frame
vs	the velocity of the source frame
vt	the velocity of the target frame

Returns

a moving transformation

Note

If source/target are not defined with respect to the GLOBAL frame, the caller must take care that the intermediate frames are either stationary, or that their velocity has been accounted for in defining vs/vt.

References E, Edot, QUAT::invert(), MATRIX3::mult(), TRANSFORM3::q, r, rdot, MATRIX3::set_identity(), MATRIX3::skew_symmetric(), source, target, TRANSFORM3::transform(), TRANSFORM3::transform_vector(), MATRIX3::transpose_mult(), and v.

Referenced by POSE3::dot_spatial_transform_to_matrix2(), POSE3::spatial_transform_to_matrix(), and POSE3::spatial_transform_to_matrix2().

SACCEL MOVINGTRANSFORM3::transform

(

const SACCEL &

a

)

const

Transforms a spatial acceleration (defined relative to the source frame's relative pose) to a spatial acceleration (relative to the target frame's relative pose)

Parameters

a	an acceleration defined in the source frame

References VECTOR3::cross(), E, Edot, SVECTOR6::get_lower(), SVECTOR6::get_upper(), SVECTOR6::pose, r, rdot, SVECTOR6::set_lower(), SVECTOR6::set_upper(), source, target, and v.

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

• /home/drum/Ravelin.new/include/Ravelin/MovingTransform3.h
• /home/drum/Ravelin.new/src/MovingTransform3.cpp