Class facilitating the manipulation of the kinematics of a frame within another and the associated operations. More...

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

Inheritance diagram for stateObservation::kine::Kinematics:

Collaboration diagram for stateObservation::kine::Kinematics:

Public Member Functions
	Kinematics ()

	Kinematics (const Vector &v, Flags::Byte=Flags::all)

	Kinematics (const Kinematics &multiplier1, const Kinematics &multiplier2)
	constructor of a Kinematics object resulting from the composition of two others.

	Kinematics (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.

	Kinematics (const LocalKinematics &locK)
	constructor of a Kinematics object given its equivalent in the local frame.

Kinematics &	operator= (const LocalKinematics &locK)
	fills the Kinematics object given its equivalent in the local frame.

const Kinematics &	integrate (double dt)
	integrates the current kinematics over the timestep dt.

const Kinematics &	update (const Kinematics &newValue, double dt, Flags::Byte=Flags::all)
	updates the current kinematics (k) with the new ones (k+1).

Kinematics	getInverse () const
	returns the inverse of the current kinematics.

Kinematics	operator* (const Kinematics &) const
	composition of transformation

Kinematics &	setToProductNoAlias (const Kinematics &operand1, const Kinematics &operand2)
	computes the composition of two Kinematics object.

Kinematics &	setToDiffNoAlias (const Kinematics &multiplier1, const Kinematics &multiplier2)

Kinematics &	setToDiffNoAliasLinPart (const Kinematics &multiplier1, const Kinematics &multiplier2)
	Linear part of the setToDiffNoAlias(const Kinematics &, const Kinematics &) function.

Kinematics &	setToDiffNoAliasAngPart (const Kinematics &multiplier1, const Kinematics &multiplier2)
	Angular part of the setToDiffNoAlias(const Kinematics &, const Kinematics &) function.

Public Member Functions inherited from stateObservation::kine::internal::KinematicsInternal< Kinematics >
	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 ()

Kinematics &	fromVector (const Vector &v, typename Flags::Byte=Flags::all)

Kinematics &	setZero (typename Flags::Byte=Flags::all)

Vector	toVector (typename Flags::Byte) const

Vector	toVector () const

Protected Attributes
Vector3	tempVec_

Additional Inherited Members
Static Public Member Functions inherited from stateObservation::kine::internal::KinematicsInternal< Kinematics >
static Kinematics	zeroKinematics (typename Flags::Byte=Flags::all)
	returns an object corresponding to zero kinematics on the desired variables.

Public Attributes inherited from stateObservation::kine::internal::KinematicsInternal< Kinematics >
CheckedVector3	position

Orientation	orientation

CheckedVector3	linVel

CheckedVector3	angVel

CheckedVector3	linAcc

CheckedVector3	angAcc

Detailed Description

Class facilitating the manipulation of the kinematics of a frame within another and the associated operations.

The Kinematics object contains the position, the orientation, the velocities and the accelerations of a frame 1 within another frame 2. The object Kinematics is the expression of these kinematics in the global frame 2, while the LocalKinematics object is their expression in the local frame 1.

Constructor & Destructor Documentation

◆ Kinematics() [1/5]

stateObservation::kine::Kinematics::Kinematics ( )

inline

◆ Kinematics() [2/5]

stateObservation::kine::Kinematics::Kinematics	(	const Vector &	v,
		Flags::Byte	= `Flags::all`
	)

Constructor from a 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

◆ Kinematics() [3/5]

stateObservation::kine::Kinematics::Kinematics	(	const Kinematics &	multiplier1,
		const Kinematics &	multiplier2
	)

constructor of a Kinematics object resulting from the composition of two others.

Parameters

multiplier1	the first Kinematics object used for the composition
multiplier2	the second Kinematics object used for the composition

◆ Kinematics() [4/5]

stateObservation::kine::Kinematics::Kinematics	(	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

◆ Kinematics() [5/5]

stateObservation::kine::Kinematics::Kinematics ( const LocalKinematics & locK )

inlineexplicit

constructor of a Kinematics object given its equivalent in the local frame.

performs the conversion from the local to the global expression of the kinematics.

Parameters

locK	the local kinematics to convert

Member Function Documentation

◆ getInverse()

Kinematics stateObservation::kine::Kinematics::getInverse ( ) const

inline

returns the inverse of the current kinematics.

if the current object represents the kinematics of a frame 1 in a frame 2, will return the kinematics of the frame 2 in 1.

Returns: Kinematics

◆ integrate()

const Kinematics & stateObservation::kine::Kinematics::integrate ( double dt )

inline

integrates the current kinematics over the timestep dt.

can be used to predict the future kinematics from the current ones.

Parameters

dt	the timestep used for the integration

Returns: const Kinematics &

◆ operator*()

Kinematics stateObservation::kine::Kinematics::operator* ( const Kinematics & ) const

inline

composition of transformation

◆ operator=()

Kinematics & stateObservation::kine::Kinematics::operator= ( const LocalKinematics & locK )

inline

fills the Kinematics object given its equivalent in the local frame.

performs the conversion from the local to the global expression of the kinematics.

Parameters

locK	the local kinematics to convert

◆ setToDiffNoAlias()

Kinematics & stateObservation::kine::Kinematics::setToDiffNoAlias	(	const Kinematics &	multiplier1,
		const Kinematics &	multiplier2
	)

inline

Allows to compute the difference between two Kinematics objects. Has the same effect than calling setToProductNoAlias(operand1, operand2.getInverse()) but is computationally faster

◆ setToDiffNoAliasAngPart()

Kinematics & stateObservation::kine::Kinematics::setToDiffNoAliasAngPart	(	const Kinematics &	multiplier1,
		const Kinematics &	multiplier2
	)

inline

Angular part of the setToDiffNoAlias(const Kinematics &, const Kinematics &) function.

◆ setToDiffNoAliasLinPart()

Kinematics & stateObservation::kine::Kinematics::setToDiffNoAliasLinPart	(	const Kinematics &	multiplier1,
		const Kinematics &	multiplier2
	)

inline

Linear part of the setToDiffNoAlias(const Kinematics &, const Kinematics &) function.

◆ setToProductNoAlias()

Kinematics & stateObservation::kine::Kinematics::setToProductNoAlias	(	const Kinematics &	operand1,
		const Kinematics &	operand2
	)

inline

computes the composition of two Kinematics object.

Parameters

operand1	the first Kinematics object used in the composition
operand2	the second Kinematics object used in the composition

Returns: Kinematics

◆ update()

const Kinematics & stateObservation::kine::Kinematics::update	(	const Kinematics &	newValue,
		double	dt,
		Flags::Byte	= `Flags::all`
	)

inline

updates the current kinematics (k) with the new ones (k+1).

flags allow to chose what variables must be contained in the new kinematics. If a variable is not given in the updated Kinematics object, it computed using either integration or finite differences depending on the available information.

Parameters

newValue	the new values of the kinematics
dt	the time ellapsed between the current kinematics and the new ones.
Flags	the flags indicating which variables are desired in the updated kinematics.

Returns: const Kinematics &

Member Data Documentation

◆ tempVec_

Vector3 stateObservation::kine::Kinematics::tempVec_

protected

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Kinematics() [1/5]

◆ Kinematics() [2/5]

◆ Kinematics() [3/5]

◆ Kinematics() [4/5]

◆ Kinematics() [5/5]

Member Function Documentation

◆ getInverse()

◆ integrate()

◆ operator*()

◆ operator=()

◆ setToDiffNoAlias()

◆ setToDiffNoAliasAngPart()

◆ setToDiffNoAliasLinPart()

◆ setToProductNoAlias()

◆ update()

Member Data Documentation

◆ tempVec_