franky::Twist Class Reference

Twist of a frame. More...

#include <twist.hpp>

Public Member Functions
	Twist (const Twist &twist)=default
	Twist (Eigen::Vector3d linear_velocity=Eigen::Vector3d::Zero(), Eigen::Vector3d angular_velocity=Eigen::Vector3d::Zero())
Vector6d	vector_repr () const
	Get the vector representation of the twist. It consists of the linear and angular velocities.
Twist	transformWith (const Affine &transformation) const
	Transform the frame of the twist by applying the given affine transform.
template<typename RotationMatrixType >
Twist	transformWith (const RotationMatrixType &rotation) const
	Transform the frame of the twist by applying the given rotation.
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.
Eigen::Vector3d	linear_velocity () const
	Get the linear velocity.
Eigen::Vector3d	angular_velocity () const
	Get the angular velocity.

Static Public Member Functions
static Twist	fromVectorRepr (const Vector6d &vector_repr)

Friends
std::ostream &	operator<< (std::ostream &os, const Twist &twist)

Detailed Description

Twist of a frame.

Constructor & Destructor Documentation

Twist() [1/2]

franky::Twist::Twist ( const Twist &  twist )

default

Twist() [2/2]

franky::Twist::Twist ( Eigen::Vector3d  linear_velocity = Eigen::Vector3d::Zero(), Eigen::Vector3d  angular_velocity = Eigen::Vector3d::Zero()  )

inlineexplicit

Parameters

linear_velocity	The linear velocity in [m/s].
angular_velocity	The angular velocity in [rad/s].

Member Function Documentation

angular_velocity()

Eigen::Vector3d franky::Twist::angular_velocity ( ) const

inline

Get the angular velocity.

Returns

The angular velocity [rad/s].

fromVectorRepr()

static Twist franky::Twist::fromVectorRepr ( const Vector6d &  vector_repr )

inlinestatic

Parameters

vector_repr

The vector representation of the twist.

linear_velocity()

Eigen::Vector3d franky::Twist::linear_velocity ( ) const

inline

Get the linear velocity.

Returns

The linear velocity [m/s].

propagateThroughLink()

Twist franky::Twist::propagateThroughLink ( const Eigen::Vector3d &  link_translation ) const

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

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

inline

Transform the frame of the twist by applying the given affine transform.

Parameters

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

inline

Transform the frame of the twist by applying the given rotation.

Parameters

rotation

The rotation to apply.

Returns

The twist after the transformation.

vector_repr()

Vector6d franky::Twist::vector_repr ( ) const

inline

Get the vector representation of the twist. It consists of the linear and angular velocities.

Returns

The vector representation of the twist.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const Twist &  twist  )

friend

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

• /home/runner/work/franky/franky/include/franky/twist.hpp