#include <framevel.hpp>

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)

Detailed Description

Definition at line 125 of file framevel.hpp.

Constructor & Destructor Documentation

KDL::RotationVel::RotationVel ( ) [inline]

Definition at line 135 of file framevel.hpp.

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

Definition at line 136 of file framevel.hpp.

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

Definition at line 137 of file framevel.hpp.

Member Function Documentation

Vector KDL::RotationVel::deriv ( ) const [inline]

Definition at line 141 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 132 of file framevel.hpp.

RotationVel KDL::RotationVel::Inverse ( ) const

Definition at line 136 of file framevel.hpp.

VectorVel KDL::RotationVel::Inverse ( const VectorVel & arg ) const

Definition at line 140 of file framevel.hpp.

VectorVel KDL::RotationVel::Inverse ( const Vector & arg ) const

Definition at line 147 of file framevel.hpp.

TwistVel KDL::RotationVel::Inverse ( const TwistVel & arg ) const

Definition at line 476 of file framevel.hpp.

TwistVel KDL::RotationVel::Inverse ( const Twist & arg ) const

Definition at line 486 of file framevel.hpp.

VectorVel KDL::RotationVel::operator* ( const VectorVel & arg ) const

Definition at line 155 of file framevel.hpp.

VectorVel KDL::RotationVel::operator* ( const Vector & arg ) const

Definition at line 160 of file framevel.hpp.

TwistVel KDL::RotationVel::operator* ( const TwistVel & arg ) const

Definition at line 481 of file framevel.hpp.

TwistVel KDL::RotationVel::operator* ( const Twist & arg ) const

Definition at line 491 of file framevel.hpp.

RotationVel & RotationVel::operator= ( const RotationVel & arg )

Definition at line 107 of file framevel.hpp.

RotationVel & RotationVel::operator= ( const Rotation & arg )

Definition at line 112 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 204 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 118 of file framevel.hpp.

VectorVel RotationVel::UnitY ( ) const

Definition at line 122 of file framevel.hpp.

VectorVel RotationVel::UnitZ ( ) const

Definition at line 126 of file framevel.hpp.

Rotation KDL::RotationVel::value ( ) const [inline]

Definition at line 140 of file framevel.hpp.

References R.

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

Friends And Related Function Documentation

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

Definition at line 334 of file framevel.hpp.

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

Definition at line 337 of file framevel.hpp.

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

Definition at line 340 of file framevel.hpp.

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

Definition at line 95 of file framevel.hpp.

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

Definition at line 99 of file framevel.hpp.

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

Definition at line 103 of file framevel.hpp.

Member Data Documentation

Rotation KDL::RotationVel::R

Definition at line 132 of file framevel.hpp.

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

Vector KDL::RotationVel::w

Definition at line 133 of file framevel.hpp.

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation