Twist of a frame.
More...
#include <twist.hpp>
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| | Twist (const Twist &twist)=default |
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| | Twist (Eigen::Vector3d linear_velocity=Eigen::Vector3d::Zero(), Eigen::Vector3d angular_velocity=Eigen::Vector3d::Zero()) |
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| Vector6d | vector_repr () const |
| | Get the vector representation of the twist. It consists of the linear and angular velocities. More...
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| Twist | transformWith (const Affine &transformation) const |
| | Transform the frame of the twist by applying the given affine transform. More...
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| template<typename RotationMatrixType > |
| Twist | transformWith (const RotationMatrixType &rotation) const |
| | Transform the frame of the twist by applying the given rotation. More...
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| Twist | propagateThroughLink (const Eigen::Vector3d &link_translation) const |
| | Propagate the twist through a link with the given translation. Hence, suppose this twist is the twist of a frame A, then this function computes the twist of a frame B that is rigidly attached to frame A by a link with the given translation: B = A + T, where T is the translation. More...
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| Eigen::Vector3d | linear_velocity () const |
| | Get the linear velocity. More...
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| Eigen::Vector3d | angular_velocity () const |
| | Get the angular velocity. More...
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◆ Twist() [1/2]
| franky::Twist::Twist |
( |
const Twist & |
twist | ) |
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default |
◆ Twist() [2/2]
| franky::Twist::Twist |
( |
Eigen::Vector3d |
linear_velocity = Eigen::Vector3d::Zero(), |
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Eigen::Vector3d |
angular_velocity = Eigen::Vector3d::Zero() |
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) |
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inlineexplicit |
- Parameters
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| linear_velocity | The linear velocity. |
| angular_velocity | The angular velocity. |
◆ angular_velocity()
| Eigen::Vector3d franky::Twist::angular_velocity |
( |
| ) |
const |
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inline |
Get the angular velocity.
- Returns
- The angular velocity.
◆ fromVectorRepr()
| static Twist franky::Twist::fromVectorRepr |
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const Vector6d & |
vector_repr | ) |
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inlinestatic |
- Parameters
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| vector_repr | The vector representation of the twist. |
◆ linear_velocity()
| Eigen::Vector3d franky::Twist::linear_velocity |
( |
| ) |
const |
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inline |
Get the linear velocity.
- Returns
- The linear velocity.
◆ propagateThroughLink()
| Twist franky::Twist::propagateThroughLink |
( |
const Eigen::Vector3d & |
link_translation | ) |
const |
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inline |
Propagate the twist through a link with the given translation. Hence, suppose this twist is the twist of a frame A, then this function computes the twist of a frame B that is rigidly attached to frame A by a link with the given translation: B = A + T, where T is the translation.
- Parameters
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| link_translation | The translation of the link. Must be in the same reference frame as this twist. |
- Returns
- The twist propagated through the link.
◆ transformWith() [1/2]
| Twist franky::Twist::transformWith |
( |
const Affine & |
transformation | ) |
const |
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inline |
Transform the frame of the twist by applying the given affine transform.
- Parameters
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| transformation | The transformation to apply. |
- Returns
- The twist after the transformation.
◆ transformWith() [2/2]
template<typename RotationMatrixType >
| Twist franky::Twist::transformWith |
( |
const RotationMatrixType & |
rotation | ) |
const |
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inline |
Transform the frame of the twist by applying the given rotation.
- Parameters
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| rotation | The rotation to apply. |
- Returns
- The twist after the transformation.
◆ vector_repr()
| Vector6d franky::Twist::vector_repr |
( |
| ) |
const |
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inline |
Get the vector representation of the twist. It consists of the linear and angular velocities.
- Returns
- The vector representation of the twist.
The documentation for this class was generated from the following file:
- /home/runner/work/franky/franky/include/franky/twist.hpp
