#include <state-observation/tools/rigid-body-kinematics.hpp>
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. More... | |
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. More... | |
Public Attributes | |
CheckedVector3 | position |
Orientation | orientation |
CheckedVector3 | linVel |
CheckedVector3 | angVel |
CheckedVector3 | linAcc |
CheckedVector3 | angAcc |
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inline |
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.
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 |
T& stateObservation::kine::internal::KinematicsInternal< T >::fromVector | ( | const Vector & | v, |
typename Flags::Byte | = Flags::all |
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) |
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
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inline |
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)
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inline |
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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
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inlinestatic |
returns an object corresponding to zero kinematics on the desired variables.
Flags | defines of which variables the new object must be filled. |
CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::angAcc |
CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::angVel |
CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::linAcc |
CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::linVel |
Orientation stateObservation::kine::internal::KinematicsInternal< T >::orientation |
CheckedVector3 stateObservation::kine::internal::KinematicsInternal< T >::position |