Blender V2.61 - r43446
Functions

frames.inl File Reference

Go to the source code of this file.

Functions

IMETHOD Vector operator+ (const Vector &lhs, const Vector &rhs)
IMETHOD Vector operator- (const Vector &lhs, const Vector &rhs)
Vector operator* (const Vector &lhs, double rhs)
Vector operator* (double lhs, const Vector &rhs)
Vector operator/ (const Vector &lhs, double rhs)
Vector operator* (const Vector &lhs, const Vector &rhs)
IMETHOD Vector Normalize (const Vector &a, double eps)
Wrench operator* (const Wrench &lhs, double rhs)
Wrench operator* (double lhs, const Wrench &rhs)
Wrench operator/ (const Wrench &lhs, double rhs)
Wrench operator+ (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &lhs, const Wrench &rhs)
Wrench operator- (const Wrench &arg)
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)
Frame operator* (const Frame &lhs, const Frame &rhs)
Vector operator- (const Vector &arg)
IMETHOD Vector2 operator+ (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2 operator- (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2 operator* (const Vector2 &lhs, double rhs)
IMETHOD Vector2 operator* (double lhs, const Vector2 &rhs)
IMETHOD Vector2 operator/ (const Vector2 &lhs, double rhs)
IMETHOD Vector2 operator- (const Vector2 &arg)
IMETHOD Rotation2 operator* (const Rotation2 &lhs, const Rotation2 &rhs)
IMETHOD Frame2 operator* (const Frame2 &lhs, const Frame2 &rhs)
IMETHOD double dot (const Vector &lhs, const Vector &rhs)
IMETHOD double dot (const Twist &lhs, const Wrench &rhs)
IMETHOD double dot (const Wrench &rhs, const Twist &lhs)
IMETHOD bool Equal (const Vector &a, const Vector &b, double eps)
IMETHOD bool Equal (const Frame &a, const Frame &b, double eps)
IMETHOD bool Equal (const Wrench &a, const Wrench &b, double eps)
IMETHOD bool Equal (const Twist &a, const Twist &b, double eps)
IMETHOD bool Equal (const Vector2 &a, const Vector2 &b, double eps)
IMETHOD bool Equal (const Rotation2 &a, const Rotation2 &b, double eps)
IMETHOD bool Equal (const Frame2 &a, const Frame2 &b, double eps)
IMETHOD void SetToZero (Vector &v)
IMETHOD void SetToZero (Twist &v)
IMETHOD void SetToZero (Wrench &v)
IMETHOD void SetToZero (Vector2 &v)
IMETHOD Rotation Rot (const Vector &axis_a_b)
IMETHOD Vector diff (const Vector &a, const Vector &b, double dt)
IMETHOD Vector diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt)
 diff operator for displacement rotational velocity.
IMETHOD Twist diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt)
IMETHOD Twist diff (const Twist &a, const Twist &b, double dt)
IMETHOD Wrench diff (const Wrench &a, const Wrench &b, double dt)
IMETHOD Vector addDelta (const Vector &a, const Vector &da, double dt)
IMETHOD Rotation addDelta (const Rotation &a, const Vector &da, double dt)
IMETHOD Frame addDelta (const Frame &a, const Twist &da, double dt)
IMETHOD Twist addDelta (const Twist &a, const Twist &da, double dt)
IMETHOD Wrench addDelta (const Wrench &a, const Wrench &da, double dt)
IMETHOD void random (Vector &a)
 addDelta operator for displacement rotational velocity.
IMETHOD void random (Twist &a)
IMETHOD void random (Wrench &a)
IMETHOD void random (Rotation &R)
IMETHOD void random (Frame &F)
IMETHOD void posrandom (Vector &a)
IMETHOD void posrandom (Twist &a)
IMETHOD void posrandom (Wrench &a)
IMETHOD void posrandom (Rotation &R)
IMETHOD void posrandom (Frame &F)
IMETHOD bool operator== (const Frame &a, const Frame &b)
IMETHOD bool operator!= (const Frame &a, const Frame &b)
IMETHOD bool operator== (const Vector &a, const Vector &b)
IMETHOD bool operator!= (const Vector &a, const Vector &b)
IMETHOD bool operator== (const Twist &a, const Twist &b)
IMETHOD bool operator!= (const Twist &a, const Twist &b)
IMETHOD bool operator== (const Wrench &a, const Wrench &b)
IMETHOD bool operator!= (const Wrench &a, const Wrench &b)
IMETHOD bool operator!= (const Rotation &a, const Rotation &b)

Function Documentation

IMETHOD Vector addDelta ( const Vector &  a,
const Vector &  da,
double  dt 
)

Definition at line 1216 of file frames.inl.

IMETHOD Rotation addDelta ( const Rotation &  a,
const Vector &  da,
double  dt 
)

Definition at line 1220 of file frames.inl.

References Rot().

IMETHOD Frame addDelta ( const Frame &  a,
const Twist &  da,
double  dt 
)

Definition at line 1223 of file frames.inl.

References KDL::addDelta().

IMETHOD Twist addDelta ( const Twist &  a,
const Twist &  da,
double  dt 
)

Definition at line 1229 of file frames.inl.

References KDL::addDelta().

IMETHOD Wrench addDelta ( const Wrench &  a,
const Wrench &  da,
double  dt 
)

Definition at line 1232 of file frames.inl.

References KDL::addDelta().

IMETHOD Vector diff ( const Rotation &  R_a_b1,
const Rotation &  R_a_b2,
double  dt 
)

diff operator for displacement rotational velocity.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

represent a displacement twist and displacement rotational velocity with another class, instead of Vector and Twist.

Warning:
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Vector diff_displ(const Vector& a,const Vector& b,double dt) { return diff(Rot(a),Rot(b),dt); } diff operator for displacement twist.

The Twist arguments here represent a displacement twist. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Warning:
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Twist diff_displ(const Twist& a,const Twist& b,double dt) { return Twist(diff(a.vel,b.vel,dt),diff(Rot(a.rot),Rot(b.rot),dt)); }

Definition at line 1194 of file frames.inl.

References Rotation().

IMETHOD Twist diff ( const Frame &  F_a_b1,
const Frame &  F_a_b2,
double  dt 
)

Definition at line 1198 of file frames.inl.

References KDL::diff().

IMETHOD Twist diff ( const Twist &  a,
const Twist &  b,
double  dt 
)

Definition at line 1204 of file frames.inl.

References KDL::diff().

IMETHOD Wrench diff ( const Wrench &  a,
const Wrench &  b,
double  dt 
)

Definition at line 1208 of file frames.inl.

References KDL::diff().

IMETHOD Vector diff ( const Vector &  a,
const Vector &  b,
double  dt 
)

Definition at line 1158 of file frames.inl.

IMETHOD double dot ( const Vector &  lhs,
const Vector &  rhs 
)

Definition at line 1040 of file frames.inl.

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

Definition at line 1048 of file frames.inl.

References KDL::dot().

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

Definition at line 1044 of file frames.inl.

References KDL::dot().

IMETHOD bool Equal ( const Vector &  a,
const Vector &  b,
double  eps 
)

Definition at line 1060 of file frames.inl.

References KDL::Equal().

IMETHOD bool Equal ( const Frame &  a,
const Frame &  b,
double  eps 
)

Definition at line 1067 of file frames.inl.

References KDL::Equal().

IMETHOD bool Equal ( const Wrench &  a,
const Wrench &  b,
double  eps 
)

Definition at line 1072 of file frames.inl.

References KDL::Equal().

IMETHOD bool Equal ( const Twist &  a,
const Twist &  b,
double  eps 
)

Definition at line 1077 of file frames.inl.

References KDL::Equal().

IMETHOD bool Equal ( const Vector2 &  a,
const Vector2 &  b,
double  eps 
)

Definition at line 1082 of file frames.inl.

References KDL::Equal().

IMETHOD bool Equal ( const Rotation2 &  a,
const Rotation2 &  b,
double  eps 
)

Definition at line 1087 of file frames.inl.

References KDL::Equal().

IMETHOD bool Equal ( const Frame2 &  a,
const Frame2 &  b,
double  eps 
)

Definition at line 1091 of file frames.inl.

References KDL::Equal().

IMETHOD Vector Normalize ( const Vector &  a,
double  eps 
)

Definition at line 162 of file frames.inl.

Referenced by AvgTSpace(), base_callback(), EvalTspace(), and GenerateTSpaces().

IMETHOD bool operator!= ( const Frame &  a,
const Frame &  b 
)

Definition at line 1344 of file frames.inl.

References KDL::operator==().

IMETHOD bool operator!= ( const Vector &  a,
const Vector &  b 
)

Definition at line 1358 of file frames.inl.

References KDL::operator==().

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

Definition at line 1371 of file frames.inl.

References KDL::operator==().

IMETHOD bool operator!= ( const Wrench &  a,
const Wrench &  b 
)

Definition at line 1384 of file frames.inl.

References KDL::operator==().

IMETHOD bool operator!= ( const Rotation &  a,
const Rotation &  b 
)

Definition at line 1387 of file frames.inl.

References KDL::operator==().

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

Definition at line 254 of file frames.inl.

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

Definition at line 259 of file frames.inl.

Frame operator* ( const Frame &  lhs,
const Frame &  rhs 
)

Definition at line 407 of file frames.inl.

IMETHOD Vector2 operator* ( const Vector2 &  lhs,
double  rhs 
)

Definition at line 793 of file frames.inl.

IMETHOD Vector2 operator* ( double  lhs,
const Vector2 &  rhs 
)

Definition at line 798 of file frames.inl.

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

Definition at line 100 of file frames.inl.

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

Definition at line 357 of file frames.inl.

IMETHOD Rotation2 operator* ( const Rotation2 &  lhs,
const Rotation2 &  rhs 
)

Definition at line 898 of file frames.inl.

IMETHOD Frame2 operator* ( const Frame2 &  lhs,
const Frame2 &  rhs 
)

Definition at line 958 of file frames.inl.

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

Definition at line 91 of file frames.inl.

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

Definition at line 362 of file frames.inl.

Vector operator* ( const Vector &  lhs,
const Vector &  rhs 
)

Definition at line 118 of file frames.inl.

IMETHOD Vector operator+ ( const Vector &  lhs,
const Vector &  rhs 
)

Definition at line 65 of file frames.inl.

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

Definition at line 270 of file frames.inl.

IMETHOD Vector2 operator+ ( const Vector2 &  lhs,
const Vector2 &  rhs 
)

Definition at line 783 of file frames.inl.

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

Definition at line 373 of file frames.inl.

IMETHOD Vector2 operator- ( const Vector2 &  lhs,
const Vector2 &  rhs 
)

Definition at line 788 of file frames.inl.

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

Definition at line 275 of file frames.inl.

Twist operator- ( const Twist &  arg)

Definition at line 384 of file frames.inl.

Vector operator- ( const Vector &  arg)

Definition at line 450 of file frames.inl.

IMETHOD Vector operator- ( const Vector &  lhs,
const Vector &  rhs 
)

Definition at line 74 of file frames.inl.

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

Definition at line 378 of file frames.inl.

Wrench operator- ( const Wrench &  arg)

Definition at line 281 of file frames.inl.

IMETHOD Vector2 operator- ( const Vector2 &  arg)

Definition at line 843 of file frames.inl.

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

Definition at line 367 of file frames.inl.

IMETHOD Vector2 operator/ ( const Vector2 &  lhs,
double  rhs 
)

Definition at line 803 of file frames.inl.

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

Definition at line 264 of file frames.inl.

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

Definition at line 109 of file frames.inl.

IMETHOD bool operator== ( const Wrench &  a,
const Wrench &  b 
)

Definition at line 1375 of file frames.inl.

References KDL::Equal().

IMETHOD bool operator== ( const Frame &  a,
const Frame &  b 
)

Definition at line 1335 of file frames.inl.

References KDL::Equal().

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

Definition at line 1362 of file frames.inl.

References KDL::Equal().

IMETHOD bool operator== ( const Vector &  a,
const Vector &  b 
)

Definition at line 1348 of file frames.inl.

References KDL::Equal().

IMETHOD void posrandom ( Rotation &  R)

Definition at line 1317 of file frames.inl.

References KDL::Rotation::EulerZYX(), and KDL::posrandom().

IMETHOD void posrandom ( Vector &  a)

Definition at line 1303 of file frames.inl.

References KDL::posrandom().

IMETHOD void posrandom ( Frame &  F)

Definition at line 1327 of file frames.inl.

References KDL::random().

IMETHOD void posrandom ( Twist &  a)

Definition at line 1308 of file frames.inl.

References KDL::posrandom().

IMETHOD void posrandom ( Wrench &  a)

Definition at line 1312 of file frames.inl.

References KDL::posrandom().

IMETHOD void random ( Frame &  F)

Definition at line 1298 of file frames.inl.

References KDL::random().

IMETHOD void random ( Vector &  a)

addDelta operator for displacement rotational velocity.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters:
a: displacement rotational velocity
da: rotational velocity
Returns:
displacement rotational velocity
Warning:
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) { return getRot(addDelta(Rot(a),da,dt)); } addDelta operator for displacement twist.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters:
a: displacement twist
da: twist
Returns:
displacement twist
Warning:
do not confuse displacement rotational velocities and velocities
do not confuse displacement twist and twist.

IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) { return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt)); }

Definition at line 1274 of file frames.inl.

References KDL::random().

Referenced by render_new_particle_system(), and wind_func().

IMETHOD void random ( Twist &  a)

Definition at line 1279 of file frames.inl.

References KDL::random().

IMETHOD void random ( Wrench &  a)

Definition at line 1283 of file frames.inl.

References KDL::random().

IMETHOD void random ( Rotation &  R)

Definition at line 1288 of file frames.inl.

References KDL::Rotation::EulerZYX(), and KDL::random().

IMETHOD Rotation Rot ( const Vector &  axis_a_b)

axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame. This routine returns the rotation matrix R_a_b

Definition at line 1135 of file frames.inl.

References angle(), KDL::cos(), Rotation(), and KDL::sin().

Referenced by addDelta(), KDL::Joint::pose(), and iTaSC::updateJoint().

IMETHOD void SetToZero ( Vector &  v)

Definition at line 1096 of file frames.inl.

References KDL::Vector::Zero().

Referenced by SetToZero().

IMETHOD void SetToZero ( Wrench &  v)

Definition at line 1103 of file frames.inl.

References KDL::SetToZero().

IMETHOD void SetToZero ( Twist &  v)

Definition at line 1099 of file frames.inl.

References KDL::SetToZero().

IMETHOD void SetToZero ( Vector2 &  v)

Definition at line 1108 of file frames.inl.

References KDL::Vector2::Zero().

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