KDL::RotationVel Class Reference

#include <framevel.hpp>

List of all members.

Public Member Functions
	RotationVel ()
	RotationVel (const Rotation &R_)
	RotationVel (const Rotation &R_, const Vector &_w)
Rotation	value () const
Vector	deriv () const
IMETHOD RotationVel &	operator= (const RotationVel &arg)
IMETHOD RotationVel &	operator= (const Rotation &arg)
IMETHOD VectorVel	UnitX () const
IMETHOD VectorVel	UnitY () const
IMETHOD VectorVel	UnitZ () const
IMETHOD RotationVel	Inverse () const
IMETHOD VectorVel	Inverse (const VectorVel &arg) const
IMETHOD VectorVel	Inverse (const Vector &arg) const
IMETHOD VectorVel	operator* (const VectorVel &arg) const
IMETHOD VectorVel	operator* (const Vector &arg) const
IMETHOD void	DoRotX (const doubleVel &angle)
IMETHOD void	DoRotY (const doubleVel &angle)
IMETHOD void	DoRotZ (const doubleVel &angle)
IMETHOD TwistVel	Inverse (const TwistVel &arg) const
IMETHOD TwistVel	Inverse (const Twist &arg) const
IMETHOD TwistVel	operator* (const TwistVel &arg) const
IMETHOD TwistVel	operator* (const Twist &arg) const
Static Public Member Functions
static IMETHOD RotationVel	Identity ()
static IMETHOD RotationVel	RotX (const doubleVel &angle)
static IMETHOD RotationVel	RotY (const doubleVel &angle)
static IMETHOD RotationVel	RotZ (const doubleVel &angle)
static IMETHOD RotationVel	Rot (const Vector &rotvec, const doubleVel &angle)
static IMETHOD RotationVel	Rot2 (const Vector &rotvec, const doubleVel &angle)
Public Attributes
Rotation	R
Vector	w
Friends
IMETHOD friend RotationVel	operator* (const RotationVel &r1, const RotationVel &r2)
IMETHOD friend RotationVel	operator* (const Rotation &r1, const RotationVel &r2)
IMETHOD friend RotationVel	operator* (const RotationVel &r1, const Rotation &r2)
IMETHOD friend bool	Equal (const RotationVel &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD friend bool	Equal (const Rotation &r1, const RotationVel &r2, double eps=epsilon)
IMETHOD friend bool	Equal (const RotationVel &r1, const Rotation &r2, double eps=epsilon)

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Detailed Description

Definition at line 124 of file framevel.hpp.

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Constructor & Destructor Documentation

KDL::RotationVel::RotationVel

(

)

[inline]

Definition at line 134 of file framevel.hpp.

KDL::RotationVel::RotationVel

(

const Rotation &

R_

)

[inline, explicit]

Definition at line 135 of file framevel.hpp.

KDL::RotationVel::RotationVel	(	const Rotation &	R_,
		const Vector &	_w
	)		[inline]

Definition at line 136 of file framevel.hpp.

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Member Function Documentation

Vector KDL::RotationVel::deriv

(

)

const [inline]

Definition at line 140 of file framevel.hpp.

References w.

Referenced by KDL::FrameVel::deriv().

void RotationVel::DoRotX

(

const doubleVel &

angle

)

Definition at line 552 of file frames.inl.

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

void RotationVel::DoRotY

(

const doubleVel &

angle

)

Definition at line 568 of file frames.inl.

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

void RotationVel::DoRotZ

(

const doubleVel &

angle

)

Definition at line 584 of file frames.inl.

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

RotationVel KDL::RotationVel::Identity

(

)

[static]

Definition at line 131 of file framevel.hpp.

TwistVel KDL::RotationVel::Inverse

(

const TwistVel &

arg

)

const

Definition at line 475 of file framevel.hpp.

TwistVel KDL::RotationVel::Inverse

(

const Twist &

arg

)

const

Definition at line 485 of file framevel.hpp.

RotationVel KDL::RotationVel::Inverse

(

)

const

Definition at line 135 of file framevel.hpp.

VectorVel KDL::RotationVel::Inverse

(

const VectorVel &

arg

)

const

Definition at line 139 of file framevel.hpp.

VectorVel KDL::RotationVel::Inverse

(

const Vector &

arg

)

const

Definition at line 146 of file framevel.hpp.

VectorVel KDL::RotationVel::operator*

(

const Vector &

arg

)

const

Definition at line 159 of file framevel.hpp.

VectorVel KDL::RotationVel::operator*

(

const VectorVel &

arg

)

const

Definition at line 154 of file framevel.hpp.

TwistVel KDL::RotationVel::operator*

(

const TwistVel &

arg

)

const

Definition at line 480 of file framevel.hpp.

TwistVel KDL::RotationVel::operator*

(

const Twist &

arg

)

const

Definition at line 490 of file framevel.hpp.

RotationVel & RotationVel::operator=

(

const Rotation &

arg

)

Definition at line 111 of file framevel.hpp.

RotationVel & RotationVel::operator=

(

const RotationVel &

arg

)

Definition at line 106 of file framevel.hpp.

RotationVel RotationVel::Rot	(	const Vector &	rotvec,
		const doubleVel &	angle
	)		[static]

Definition at line 928 of file frames.inl.

References KDL::cos(), KDL::Rotation2::Rotation2(), and KDL::sin().

RotationVel RotationVel::Rot2	(	const Vector &	rotvec,
		const doubleVel &	angle
	)		[static]

Definition at line 203 of file framevel.hpp.

RotationVel RotationVel::RotX

(

const doubleVel &

angle

)

[static]

Definition at line 601 of file frames.inl.

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

RotationVel RotationVel::RotY

(

const doubleVel &

angle

)

[static]

Definition at line 606 of file frames.inl.

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

RotationVel RotationVel::RotZ

(

const doubleVel &

angle

)

[static]

Definition at line 611 of file frames.inl.

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

VectorVel RotationVel::UnitX

(

)

const

Definition at line 117 of file framevel.hpp.

VectorVel RotationVel::UnitY

(

)

const

Definition at line 121 of file framevel.hpp.

VectorVel RotationVel::UnitZ

(

)

const

Definition at line 125 of file framevel.hpp.

Rotation KDL::RotationVel::value

(

)

const [inline]

Definition at line 139 of file framevel.hpp.

References R.

Referenced by KDL::FrameVel::value().

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Friends And Related Function Documentation

IMETHOD friend bool Equal	(	const RotationVel &	r1,
		const RotationVel &	r2,
		double	eps = epsilon
	)		[friend]

Definition at line 333 of file framevel.hpp.

IMETHOD friend bool Equal	(	const Rotation &	r1,
		const RotationVel &	r2,
		double	eps = epsilon
	)		[friend]

Definition at line 336 of file framevel.hpp.

IMETHOD friend bool Equal	(	const RotationVel &	r1,
		const Rotation &	r2,
		double	eps = epsilon
	)		[friend]

Definition at line 339 of file framevel.hpp.

IMETHOD friend RotationVel operator*	(	const Rotation &	r1,
		const RotationVel &	r2
	)		[friend]

Definition at line 98 of file framevel.hpp.

IMETHOD friend RotationVel operator*	(	const RotationVel &	r1,
		const RotationVel &	r2
	)		[friend]

Definition at line 94 of file framevel.hpp.

IMETHOD friend RotationVel operator*	(	const RotationVel &	r1,
		const Rotation &	r2
	)		[friend]

Definition at line 102 of file framevel.hpp.

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Member Data Documentation

Rotation KDL::RotationVel::R

Definition at line 131 of file framevel.hpp.

Referenced by KDL::addDelta(), KDL::diff(), KDL::posrandom(), KDL::random(), and value().

Vector KDL::RotationVel::w

Definition at line 132 of file framevel.hpp.

Referenced by KDL::addDelta(), deriv(), KDL::diff(), and KDL::random().

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

• framevel.hpp
• frames.inl
• framevel.inl