A spatial velocity (a twist) More...
#include <SVelocity.h>
Inheritance diagram for SVELOCITY:
Public Member Functions | |
| SVELOCITY (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a velocity with zero linear and zero angular components. | |
| SVELOCITY (boost::shared_ptr< POSE3 > pose) | |
| Constructs a velocity with zero linear and zero angular components. | |
| SVELOCITY (const SVECTOR6 &v) | |
| Constructs a velocity from a SVector6. | |
| SVELOCITY (REAL ax, REAL ay, REAL az, REAL lx, REAL ly, REAL lz, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a velocity from six values (first three linear, next three angular) and a pose. | |
| SVELOCITY (REAL ax, REAL ay, REAL az, REAL lx, REAL ly, REAL lz, boost::shared_ptr< POSE3 > pose) | |
| Constructs a velocity from six values (first three linear, next three angular) and a pose. | |
| SVELOCITY (const REAL *array, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a velocity from six values (first three angular, next three linear) and a pose. | |
| SVELOCITY (const REAL *array, boost::shared_ptr< POSE3 > pose) | |
| Constructs a velocity from six values (first three angular, next three linear) and a pose. | |
| SVELOCITY (const VECTOR3 &angular, const VECTOR3 &linear, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a velocity from linear and angular components and a pose. | |
| SVELOCITY (const VECTOR3 &angular, const VECTOR3 &linear, boost::shared_ptr< POSE3 > pose) | |
| Constructs a velocity from linear and angular components and a pose. | |
| template<class V > | |
| V & | transpose_to_vector (V &v) const |
| REAL | dot (const SFORCE &f) const |
| Computes the dot product between a velocity and a force. | |
| REAL | dot (const SMOMENTUM &m) const |
| Computes the dot product between a velocity and a momentum. | |
| void | set_linear (const VECTOR3 &lin) |
| void | set_angular (const VECTOR3 &ang) |
| VECTOR3 | get_angular () const |
| VECTOR3 | get_linear () const |
| SVELOCITY & | operator= (const SVELOCITY &source) |
| SVELOCITY & | operator= (const SVECTOR6 &source) |
| SVELOCITY | cross (const SVELOCITY &v) const |
| Returns the spatial cross product between two velocity vectors. | |
| SFORCE | cross (const SMOMENTUM &m) const |
| Returns the spatial cross product between a velocity and a momentum (force) More... | |
| SVELOCITY | operator- () const |
| Returns the negation of this vector. | |
| SVELOCITY & | operator-= (const SVELOCITY &v) |
| SVELOCITY & | operator+= (const SVELOCITY &v) |
| SVELOCITY | operator+ (const SVELOCITY &v) const |
| SVELOCITY | operator- (const SVELOCITY &v) const |
| SVELOCITY | operator* (REAL scalar) const |
| SVELOCITY | operator/ (REAL scalar) const |
 Public Member Functions inherited from SVECTOR6 | |
| SVECTOR6 () | |
| Constructs a zero vector. | |
| SVECTOR6 (boost::shared_ptr< const POSE3 > pose) | |
| Constructs a zero vector relative to the given pose. | |
| SVECTOR6 (boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c) | |
| Constructs this vector with the given values. | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< const POSE3 > pose) | |
| Constructs this vector with the given values. | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (const REAL *array) | |
| Constructs this vector from the given array. More... | |
| SVECTOR6 (const REAL *array, boost::shared_ptr< const POSE3 > pose) | |
| Constructs this vector from the given array. More... | |
| SVECTOR6 (const REAL *array, boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower) | |
| Constructs the given spatial vector with given upper and lower components. | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower, boost::shared_ptr< const POSE3 > pose) | |
| Constructs the given spatial vector with given upper and lower components. | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower, boost::shared_ptr< POSE3 > pose) | |
| unsigned | size () const |
| SVECTOR6 & | set_zero () |
| SVECTOR6 & | set_zero (boost::shared_ptr< const POSE3 > pose) |
| void | set_lower (const VECTOR3 &lower) |
| Sets the lower 3-dimensional vector. | |
| void | set_upper (const VECTOR3 &upper) |
| Sets the upper 3-dimensional vector. | |
| VECTOR3 | get_lower () const |
| Gets the lower 3-dimensional vector. | |
| VECTOR3 | get_upper () const |
| Gets the upper 3-dimensional vector. | |
| SVECTOR6 & | operator= (const SVECTOR6 &source) |
| Copies this vector from another SVECTOR6. | |
| REAL & | operator[] (const unsigned i) |
| const REAL & | operator[] (const unsigned i) const |
| REAL * | data () |
| const REAL * | data () const |
| SVECTOR6 | operator- () const |
| SVECTOR6 & | operator/= (REAL scalar) |
| SVECTOR6 & | operator*= (REAL scalar) |
| Multiplies this vector by a scalar in place. | |
| unsigned | rows () const |
| unsigned | columns () const |
| SVECTOR6 & | resize (unsigned rows, unsigned columns) |
| SVECTOR6 & | resize (unsigned rows) |
| COLUMN_ITERATOR | begin () |
| CONST_COLUMN_ITERATOR | begin () const |
| COLUMN_ITERATOR | end () |
| CONST_COLUMN_ITERATOR | end () const |
| COLUMN_ITERATOR | column_iterator_begin () |
| Gets an iterator to the beginning of the data. | |
| CONST_COLUMN_ITERATOR | column_iterator_begin () const |
| Gets an iterator to the beginning of the data. | |
| COLUMN_ITERATOR | column_iterator_end () |
| Gets an iterator to the end of the data. | |
| CONST_COLUMN_ITERATOR | column_iterator_end () const |
| Gets an iterator to the end of the data. | |
| ROW_ITERATOR | row_iterator_begin () |
| Gets an iterator to the beginning of the data. | |
| CONST_ROW_ITERATOR | row_iterator_begin () const |
| Gets an iterator to the beginning of the data. | |
| ROW_ITERATOR | row_iterator_end () |
| Gets an iterator to the end of the data. | |
| CONST_ROW_ITERATOR | row_iterator_end () const |
| Gets an iterator to the end of the data. | |
| SVECTOR6 & | negate () |
| unsigned | inc () const |
| unsigned | leading_dim () const |
| template<class V > | |
| V & | to_vector (V &v) const |
| template<class V > | |
| SVECTOR6 (const V &v) | |
Static Public Member Functions | |
| static SVELOCITY | zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| Returns a zero velocity. | |
| static SVELOCITY | zero (boost::shared_ptr< POSE3 > pose) |
| Returns a zero velocity. | |
| template<class V > | |
| static SVELOCITY | from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| template<class V > | |
| static SVELOCITY | from_vector (const V &v, boost::shared_ptr< POSE3 > pose) |
| Static Public Member Functions inherited from SVECTOR6 | |
| static SVECTOR6 | zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| static SVECTOR6 | zero (boost::shared_ptr< POSE3 > pose=boost::shared_ptr< POSE3 >()) |
| template<class V > | |
| static SVECTOR6 | from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
Additional Inherited Members | |
| Public Attributes inherited from SVECTOR6 | |
| boost::shared_ptr< const POSE3 > | pose |
| The frame that this vector is defined in. | |
| Protected Attributes inherited from SVECTOR6 | |
| REAL | _data [6] |
Detailed Description
A spatial velocity (a twist)
Member Function Documentation
Returns the spatial cross product between a velocity and a momentum (force)
| -ax -bx | | 0 -ax |
References VECTOR3::cross(), and SVECTOR6::pose.
The documentation for this class was generated from the following files:
- /home/drum/Ravelin.new/include/Ravelin/SVelocity.h
- /home/drum/Ravelin.new/src/SVelocity.cpp
