33 #include "utilities/rall2d.h" 41 typedef Rall2d<double,double,double>
doubleAcc;
72 p(_p),
v(_v),
dv(_dv) {}
174 M(_T.
M,_t.rot,_dt.rot),
p(_T.
p,_t.vel,_dt.vel) {}
RotationAcc M
Rotation,angular velocity, and angular acceleration of frame.
Definition: frameacc.hpp:168
IMETHOD friend VectorAcc operator/(const VectorAcc &r1, double r2)
Definition: frameacc.hpp:181
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
Vector dw
angular acceration vector
Definition: frameacc.hpp:115
IMETHOD friend bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps)
Definition: frameacc.hpp:394
RotationAcc()
Definition: frameacc.hpp:117
Vector dv
acceleration vector
Definition: frameacc.hpp:66
IMETHOD VectorAcc operator*(const VectorAcc &arg) const
Definition: frameacc.hpp:363
IMETHOD TwistAcc RefPoint(const VectorAcc &v_base_AB)
Definition: frameacc.hpp:447
FrameAcc()
Definition: frameacc.hpp:171
Vector w
angular velocity vector
Definition: frameacc.hpp:114
FrameAcc(const Frame &_T, const Twist &_t, const Twist &_dt)
Definition: frameacc.hpp:173
static IMETHOD VectorAcc Zero()
Definition: frameacc.hpp:120
IMETHOD VectorAcc & operator=(const VectorAcc &arg)
Definition: frameacc.hpp:93
TwistAcc()
Definition: frameacc.hpp:216
static IMETHOD FrameAcc Identity()
Definition: frameacc.hpp:345
IMETHOD friend TwistAcc operator-(const TwistAcc &lhs, const TwistAcc &rhs)
Definition: frameacc.hpp:511
IMETHOD RotationAcc Inverse() const
Definition: frameacc.hpp:225
IMETHOD TwistAcc & operator+=(const TwistAcc &arg)
Definition: frameacc.hpp:464
IMETHOD Twist GetTwist() const
Definition: frameacc.hpp:579
static IMETHOD RotationAcc Identity()
Definition: frameacc.hpp:221
IMETHOD FrameAcc Inverse() const
Definition: frameacc.hpp:382
IMETHOD TwistAcc & operator-=(const TwistAcc &arg)
Definition: frameacc.hpp:457
IMETHOD RotationAcc & operator=(const RotationAcc &arg)
Definition: frameacc.hpp:208
IMETHOD FrameAcc & operator=(const FrameAcc &arg)
Definition: frameacc.hpp:339
Definition: frameacc.hpp:110
Definition: frameacc.hpp:165
VectorAcc rot
rotational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:213
IMETHOD Frame GetFrame() const
Definition: frameacc.hpp:405
represents both translational and rotational velocities.
Definition: frames.hpp:720
VectorAcc()
Definition: frameacc.hpp:68
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
Definition: frameacc.hpp:394
static IMETHOD TwistAcc Zero()
Definition: frameacc.hpp:435
IMETHOD friend bool Equal(const TwistAcc &a, const TwistAcc &b, double eps)
Definition: frameacc.hpp:587
VectorAcc(const Vector &_p, const Vector &_v)
Definition: frameacc.hpp:70
RotationAcc(const Rotation &_R, const Vector &_w, const Vector &_dw)
Definition: frameacc.hpp:119
Definition: articulatedbodyinertia.cpp:28
IMETHOD friend VectorAcc operator-(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.hpp:29
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
IMETHOD VectorAcc operator*(const VectorAcc &arg) const
Definition: frameacc.hpp:246
Rotation R
rotation matrix
Definition: frameacc.hpp:113
IMETHOD friend TwistAcc operator/(const TwistAcc &lhs, double rhs)
Definition: frameacc.hpp:482
IMETHOD friend bool Equal(const VectorAcc &r1, const VectorAcc &r2, double eps)
Definition: frameacc.hpp:160
Definition: frameacc.hpp:61
IMETHOD Twist GetTwistDot() const
Definition: frameacc.hpp:583
RotationAcc(const Rotation &_R)
Definition: frameacc.hpp:118
IMETHOD friend bool Equal(const RotationAcc &r1, const RotationAcc &r2, double eps)
Definition: frameacc.hpp:324
IMETHOD Twist GetAccTwist() const
Definition: frameacc.hpp:415
Vector v
velocity vector
Definition: frameacc.hpp:65
IMETHOD friend VectorAcc operator+(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.hpp:25
Rall2d< double, double, double > doubleAcc
Definition: frameacc.hpp:40
Definition: frameacc.hpp:209
IMETHOD doubleAcc Norm()
Definition: frameacc.hpp:130
Vector p
position vector
Definition: frameacc.hpp:64
VectorAcc(const Vector &_p)
Definition: frameacc.hpp:69
IMETHOD friend TwistAcc operator*(const TwistAcc &lhs, double rhs)
Definition: frameacc.hpp:472
FrameAcc(const Frame &_T)
Definition: frameacc.hpp:172
IMETHOD VectorAcc & operator+=(const VectorAcc &arg)
Definition: frameacc.hpp:107
IMETHOD Twist GetTwist() const
Definition: frameacc.hpp:410
FrameAcc(const RotationAcc &_M, const VectorAcc &_p)
Definition: frameacc.hpp:175
Definition: frames.hpp:570
IMETHOD friend TwistAcc operator+(const TwistAcc &lhs, const TwistAcc &rhs)
Definition: frameacc.hpp:506
IMETHOD void ReverseSign()
Definition: frameacc.hpp:441
IMETHOD VectorAcc & operator-=(const VectorAcc &arg)
Definition: frameacc.hpp:113
VectorAcc p
Translation, velocity and acceleration of origin.
Definition: frameacc.hpp:169
VectorAcc vel
translational velocity and its 1st and 2nd derivative
Definition: frameacc.hpp:212
TwistAcc(const VectorAcc &_vel, const VectorAcc &_rot)
Definition: frameacc.hpp:217
IMETHOD friend VectorAcc operator*(const VectorAcc &r1, const VectorAcc &r2)
Definition: frameacc.hpp:53
IMETHOD friend void SetToZero(TwistAcc &v)
IMETHOD void ReverseSign()
Definition: frameacc.hpp:124
IMETHOD friend doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
Definition: frameacc.hpp:138