Ravelin
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A transformation between two rigid body poses. More...
#include <MovingTransform3d.h>
Public Member Functions | |
SACCEL | transform (const SACCEL &a) const |
MOVINGTRANSFORM3 & | operator= (const MOVINGTRANSFORM3 &source) |
SACCEL | transform (const SACCEL &a) const |
MOVINGTRANSFORM3 & | operator= (const MOVINGTRANSFORM3 &source) |
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) |
static MOVINGTRANSFORM3 | calc_transform (boost::shared_ptr< const POSE3 > source, boost::shared_ptr< const POSE3 > target, const SVELOCITY &vs, const SVELOCITY &vt) |
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 | |
A transformation between two rigid body poses.