stateObservation::kine::internal::KinematicsInternal< T > Class Template Reference

#include <state-observation/tools/rigid-body-kinematics.hpp>

Collaboration diagram for stateObservation::kine::internal::KinematicsInternal< T >:

Classes
struct	Flags

Public Member Functions
	KinematicsInternal ()
	KinematicsInternal (const CheckedVector3 &position, const CheckedVector3 &linVel, const CheckedVector3 &linAcc, const Orientation &orientation, const CheckedVector3 &angVel, const CheckedVector3 &angAcc)
	constructor of a Kinematics object given each variable independently.
void	reset ()
T &	fromVector (const Vector &v, typename Flags::Byte=Flags::all)
template<typename t = Quaternion>
T &	setZero (typename Flags::Byte=Flags::all)
Vector	toVector (typename Flags::Byte) const
Vector	toVector () const

Static Public Member Functions
static T	zeroKinematics (typename Flags::Byte=Flags::all)
	returns an object corresponding to zero kinematics on the desired variables.

Public Attributes
CheckedVector3	position
Orientation	orientation
CheckedVector3	linVel
CheckedVector3	angVel
CheckedVector3	linAcc
CheckedVector3	angAcc

Constructor & Destructor Documentation

KinematicsInternal() [1/2]

template<class T >

stateObservation::kine::internal::KinematicsInternal< T >::KinematicsInternal ( )

inline

KinematicsInternal() [2/2]

template<class T >

stateObservation::kine::internal::KinematicsInternal< T >::KinematicsInternal	(	const CheckedVector3 &	position,
		const CheckedVector3 &	linVel,
		const CheckedVector3 &	linAcc,
		const Orientation &	orientation,
		const CheckedVector3 &	angVel,
		const CheckedVector3 &	angAcc
	)

constructor of a Kinematics object given each variable independently.

Parameters

position	the position composing the kinematics
linVel	the linear velocity composing the kinematics
linAcc	the linear acceleration composing the kinematics
orientation	the orientation composing the kinematics
angVel	the angular velocity composing the kinematics
angAcc	the angular acceleration composing the kinematics

Member Function Documentation

fromVector()

template<class T >

T & stateObservation::kine::internal::KinematicsInternal< T >::fromVector	(	const Vector &	v,
		typename Flags::Byte	= Flags::all
	)

Fills from vector the flags show which parts of the kinematics to be loaded from the vector the order of the vector is position orientation (quaternion) linevel angvel linAcc angAcc use the flags to define the structure of the vector

reset()

template<class T >

void stateObservation::kine::internal::KinematicsInternal< T >::reset ( )

inline

setZero()

template<class T >

template<typename t = Quaternion>

T & stateObservation::kine::internal::KinematicsInternal< T >::setZero

(

typename Flags::Byte

= Flags::all

)

initializes at zero all the flagged fields the typename allows to set if the prefered type for rotation is a Matrix3 or a Quaternion (Quaternion by default)

toVector() [1/2]

template<class T >

Vector stateObservation::kine::internal::KinematicsInternal< T >::toVector ( ) const

inline

toVector() [2/2]

template<class T >

Vector stateObservation::kine::internal::KinematicsInternal< T >::toVector ( typename Flags::Byte  ) const

inline

converts the object to a vector the order of the vector is position orientation (quaternion) linevel angvel linAcc angAcc use the flags to define the structure of the vector

zeroKinematics()

template<class T >

static T stateObservation::kine::internal::KinematicsInternal< T >::zeroKinematics ( typename Flags::Byte  = Flags::all )

inlinestatic

returns an object corresponding to zero kinematics on the desired variables.

Parameters

Flags

defines of which variables the new object must be filled.

Returns

Kinematics

Member Data Documentation

angAcc

template<class T >

CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::angAcc

angVel

template<class T >

CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::angVel

linAcc

template<class T >

CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::linAcc

linVel

template<class T >

CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::linVel

orientation

template<class T >

Orientation stateObservation::kine::internal::KinematicsInternal< T >::orientation

position

template<class T >

CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::position

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

• include/state-observation/tools/rigid-body-kinematics.hpp