franky::TwistAcceleration Class Reference

TwistAcceleration acceleration of a frame (2nd derivative of a pose). More...

#include <twist_acceleration.hpp>

Public Member Functions
	TwistAcceleration (const TwistAcceleration &twist_acceleration_acceleration)=default
	TwistAcceleration (Eigen::Vector3d linear_acceleration=Eigen::Vector3d::Zero(), Eigen::Vector3d angular_acceleration=Eigen::Vector3d::Zero())
Vector6d	vector_repr () const
	Get the vector representation of the twist acceleration. It consists of the linear and angular velocities.
TwistAcceleration	transformWith (const Affine &transformation) const
	Transform the frame of the twist acceleration by applying the given affine transform.
template<typename RotationMatrixType >
TwistAcceleration	transformWith (const RotationMatrixType &rotation) const
	Transform the frame of the twist acceleration by applying the given rotation.
TwistAcceleration	propagateThroughLink (const Eigen::Vector3d &link_translation, const Eigen::Vector3d &base_angular_velocity) const
	Propagate the twist acceleration through a link with the given translation. Hence, suppose this twist acceleration is the twist acceleration of a frame A, then this function computes the twist acceleration 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_acceleration () const
	Get the linear acceleration.
Eigen::Vector3d	angular_acceleration () const
	Get the angular acceleration.

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

Friends
std::ostream &	operator<< (std::ostream &os, const TwistAcceleration &twist_acceleration)

Detailed Description

TwistAcceleration acceleration of a frame (2nd derivative of a pose).

Constructor & Destructor Documentation

TwistAcceleration() [1/2]

franky::TwistAcceleration::TwistAcceleration ( const TwistAcceleration &  twist_acceleration_acceleration )

default

TwistAcceleration() [2/2]

franky::TwistAcceleration::TwistAcceleration ( Eigen::Vector3d  linear_acceleration = Eigen::Vector3d::Zero(), Eigen::Vector3d  angular_acceleration = Eigen::Vector3d::Zero()  )

inlineexplicit

Parameters

linear_acceleration	The linear acceleration in [m/s^2].
angular_acceleration	The angular acceleration in [rad/s^2].

Member Function Documentation

angular_acceleration()

Eigen::Vector3d franky::TwistAcceleration::angular_acceleration ( ) const

inline

Get the angular acceleration.

Returns

The angular acceleration [rad/s^2].

fromVectorRepr()

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

inlinestatic

Parameters

vector_repr

The vector representation of the twist acceleration.

linear_acceleration()

Eigen::Vector3d franky::TwistAcceleration::linear_acceleration ( ) const

inline

Get the linear acceleration.

Returns

The linear acceleration [m/s^2].

propagateThroughLink()

TwistAcceleration franky::TwistAcceleration::propagateThroughLink ( const Eigen::Vector3d &  link_translation, const Eigen::Vector3d &  base_angular_velocity  ) const

inline

Propagate the twist acceleration through a link with the given translation. Hence, suppose this twist acceleration is the twist acceleration of a frame A, then this function computes the twist acceleration 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 (A to B). Must be in the same reference frame as this twist acceleration.
base_angular_velocity	Angular velocity of the base frame (A) [rad/s]. Must be in the same reference frame as this twist acceleration.

Returns

The twist acceleration propagated through the link.

transformWith() [1/2]

TwistAcceleration franky::TwistAcceleration::transformWith ( const Affine &  transformation ) const

inline

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

Parameters

transformation

The transformation to apply.

Returns

The twist acceleration after the transformation.

transformWith() [2/2]

template<typename RotationMatrixType >

TwistAcceleration franky::TwistAcceleration::transformWith ( const RotationMatrixType &  rotation ) const

inline

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

Parameters

rotation

The rotation to apply.

Returns

The twist acceleration after the transformation.

vector_repr()

Vector6d franky::TwistAcceleration::vector_repr ( ) const

inline

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

Returns

The vector representation of the twist acceleration.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const TwistAcceleration &  twist_acceleration  )

friend

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

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