stateObservation::kine::LocalKinematics Struct Reference

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

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

Inheritance diagram for stateObservation::kine::LocalKinematics:

Collaboration diagram for stateObservation::kine::LocalKinematics:

Public Member Functions
	LocalKinematics ()
	LocalKinematics (const Vector &v, Flags::Byte flags)
	LocalKinematics (const LocalKinematics &multiplier1, const LocalKinematics &multiplier2)
	constructor of a LocalKinematics object resulting from the composition of two others.
	LocalKinematics (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.
	LocalKinematics (const Kinematics &kin)
	constructor of a LocalKinematics object given its equivalent in the global frame.
LocalKinematics &	operator= (const Kinematics &kine)
	fills the LocalKinematics object given its equivalent in the global frame.
template<typename t = Quaternion>
LocalKinematics &	setZero (Flags::Byte=Flags::all)
const LocalKinematics &	integrate (double dt)
	integrates the current local kinematics over the timestep dt.
const LocalKinematics &	update (const LocalKinematics &newValue, double dt, Flags::Byte=Flags::all)
	updates the current local kinematics (k) with the new ones (k+1).
LocalKinematics	getInverse () const
	returns the inverse of the current local kinematics.
LocalKinematics	operator* (const LocalKinematics &) const
	composition of transformation
LocalKinematics &	setToProductNoAlias (const LocalKinematics &operand1, const LocalKinematics &operand2)
	computes the composition of two LocalKinematics object.
LocalKinematics &	setToDiffNoAlias (const LocalKinematics &multiplier1, const LocalKinematics &multiplier2)
LocalKinematics &	setToDiffNoAliasLinPart (const LocalKinematics &multiplier1, const LocalKinematics &multiplier2)
	Linear part of the setToDiffNoAlias(const LocalKinematics &, const LocalKinematics &) function.
LocalKinematics &	setToDiffNoAliasAngPart (const LocalKinematics &multiplier1, const LocalKinematics &multiplier2)
	Angular part of the setToDiffNoAlias(const LocalKinematics &, const LocalKinematics &) function.
Public Member Functions inherited from stateObservation::kine::internal::KinematicsInternal< LocalKinematics >
	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 ()
LocalKinematics &	fromVector (const Vector &v, typename Flags::Byte=Flags::all)
LocalKinematics &	setZero (typename Flags::Byte=Flags::all)
Vector	toVector (typename Flags::Byte) const
Vector	toVector () const

Protected Attributes
Vector3	tempVec_
Vector3	tempVec_2
Vector3	tempVec_3
Vector3	tempVec_4
Vector3	tempVec_5

Additional Inherited Members
Static Public Member Functions inherited from stateObservation::kine::internal::KinematicsInternal< LocalKinematics >
static LocalKinematics	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< LocalKinematics >
CheckedVector3	position
Orientation	orientation
CheckedVector3	linVel
CheckedVector3	angVel
CheckedVector3	linAcc
CheckedVector3	angAcc

Detailed Description

Class facilitating the manipulation of the local 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

LocalKinematics() [1/5]

stateObservation::kine::LocalKinematics::LocalKinematics ( )

inline

LocalKinematics() [2/5]

stateObservation::kine::LocalKinematics::LocalKinematics ( const Vector &  v, Flags::Byte  flags  )

inline

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

LocalKinematics() [3/5]

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

inline

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

Parameters

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

LocalKinematics() [4/5]

stateObservation::kine::LocalKinematics::LocalKinematics	(	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

LocalKinematics() [5/5]

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

inlineexplicit

constructor of a LocalKinematics object given its equivalent in the global frame.

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

Parameters

locK	the global kinematics to convert

Member Function Documentation

getInverse()

LocalKinematics stateObservation::kine::LocalKinematics::getInverse ( ) const

inline

returns the inverse of the current local kinematics.

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

Returns

LocalKinematics

integrate()

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

inline

integrates the current local kinematics over the timestep dt.

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

Parameters

dt	the timestep used for the integration

Returns

const LocalKinematics &

operator*()

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

inline

composition of transformation

operator=()

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

inline

fills the LocalKinematics object given its equivalent in the global frame.

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

Parameters

locK	the global kinematics to convert

setToDiffNoAlias()

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

inline

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

setToDiffNoAliasAngPart()

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

inline

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

setToDiffNoAliasLinPart()

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

inline

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

setToProductNoAlias()

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

inline

computes the composition of two LocalKinematics object.

Parameters

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

Returns

LocalKinematics

setZero()

template<typename t = Quaternion>

LocalKinematics & stateObservation::kine::LocalKinematics::setZero

(

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)

update()

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

inline

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

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

Parameters

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

Returns

const LocalKinematics &

Member Data Documentation

tempVec_

Vector3 stateObservation::kine::LocalKinematics::tempVec_

protected

tempVec_2

Vector3 stateObservation::kine::LocalKinematics::tempVec_2

protected

tempVec_3

Vector3 stateObservation::kine::LocalKinematics::tempVec_3

protected

tempVec_4

Vector3 stateObservation::kine::LocalKinematics::tempVec_4

protected

tempVec_5

Vector3 stateObservation::kine::LocalKinematics::tempVec_5

protected

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

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