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

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

Classes
struct	Flags

Public Member Functions
	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

Detailed Description

template<class T>
class stateObservation::kine::internal::KinematicsInternal< T >

Definition at line 504 of file rigid-body-kinematics.hpp.

Constructor & Destructor Documentation

KinematicsInternal() [1/2]

template<class T>

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

inline

Definition at line 507 of file rigid-body-kinematics.hpp.

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

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)

zeroKinematics()

template<class T>

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

toVector()

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

Member Data Documentation

position

template<class T>

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

Definition at line 539 of file rigid-body-kinematics.hpp.

orientation

template<class T>

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

Definition at line 540 of file rigid-body-kinematics.hpp.

linVel

template<class T>

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

Definition at line 542 of file rigid-body-kinematics.hpp.

angVel

template<class T>

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

Definition at line 543 of file rigid-body-kinematics.hpp.

linAcc

template<class T>

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

Definition at line 545 of file rigid-body-kinematics.hpp.

angAcc

template<class T>

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

Definition at line 546 of file rigid-body-kinematics.hpp.

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

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