frames.inl File Reference

Inlined member functions and global functions that relate to the classes in frames.cpp. More...

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Functions
IMETHOD Vector	operator+ (const Vector &lhs, const Vector &rhs)
IMETHOD Vector	operator- (const Vector &lhs, const Vector &rhs)
Vector	operator* (const Vector &lhs, double rhs)
Vector	operator* (double lhs, const Vector &rhs)
Vector	operator/ (const Vector &lhs, double rhs)
Vector	operator* (const Vector &lhs, const Vector &rhs)
Wrench	operator* (const Wrench &lhs, double rhs)
Wrench	operator* (double lhs, const Wrench &rhs)
Wrench	operator/ (const Wrench &lhs, double rhs)
Wrench	operator+ (const Wrench &lhs, const Wrench &rhs)
Wrench	operator- (const Wrench &lhs, const Wrench &rhs)
Wrench	operator- (const Wrench &arg)
Twist	operator* (const Twist &lhs, double rhs)
Twist	operator* (double lhs, const Twist &rhs)
Twist	operator/ (const Twist &lhs, double rhs)
Twist	operator+ (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &lhs, const Twist &rhs)
Twist	operator- (const Twist &arg)
Twist	operator* (const Twist &lhs, const Twist &rhs)
Wrench	operator* (const Twist &lhs, const Wrench &rhs)
Frame	operator* (const Frame &lhs, const Frame &rhs)
Vector	operator- (const Vector &arg)
IMETHOD Vector2	operator+ (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2	operator- (const Vector2 &lhs, const Vector2 &rhs)
IMETHOD Vector2	operator* (const Vector2 &lhs, double rhs)
IMETHOD Vector2	operator* (double lhs, const Vector2 &rhs)
IMETHOD Vector2	operator/ (const Vector2 &lhs, double rhs)
IMETHOD Vector2	operator- (const Vector2 &arg)
IMETHOD Rotation2	operator* (const Rotation2 &lhs, const Rotation2 &rhs)
IMETHOD Frame2	operator* (const Frame2 &lhs, const Frame2 &rhs)
IMETHOD double	dot (const Vector &lhs, const Vector &rhs)
IMETHOD double	dot (const Twist &lhs, const Wrench &rhs)
IMETHOD double	dot (const Wrench &rhs, const Twist &lhs)
IMETHOD bool	Equal (const Vector &a, const Vector &b, double eps)
IMETHOD bool	Equal (const Frame &a, const Frame &b, double eps)
IMETHOD bool	Equal (const Wrench &a, const Wrench &b, double eps)
IMETHOD bool	Equal (const Twist &a, const Twist &b, double eps)
IMETHOD bool	Equal (const Vector2 &a, const Vector2 &b, double eps)
IMETHOD bool	Equal (const Rotation2 &a, const Rotation2 &b, double eps)
IMETHOD bool	Equal (const Frame2 &a, const Frame2 &b, double eps)
IMETHOD void	SetToZero (Vector &v)
IMETHOD void	SetToZero (Twist &v)
IMETHOD void	SetToZero (Wrench &v)
IMETHOD void	SetToZero (Vector2 &v)
IMETHOD Rotation	Rot (const Vector &axis_a_b)
	axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame.
IMETHOD Vector	diff (const Vector &a, const Vector &b, double dt)
IMETHOD Vector	diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt)
IMETHOD Twist	diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt)
IMETHOD Twist	diff (const Twist &a, const Twist &b, double dt)
IMETHOD Wrench	diff (const Wrench &a, const Wrench &b, double dt)
IMETHOD Vector	addDelta (const Vector &a, const Vector &da, double dt)
IMETHOD Rotation	addDelta (const Rotation &a, const Vector &da, double dt)
IMETHOD Frame	addDelta (const Frame &a, const Twist &da, double dt)
IMETHOD Twist	addDelta (const Twist &a, const Twist &da, double dt)
IMETHOD Wrench	addDelta (const Wrench &a, const Wrench &da, double dt)
IMETHOD void	random (Vector &a)
	addDelta operator for displacement rotational velocity.
IMETHOD void	random (Twist &a)
IMETHOD void	random (Wrench &a)
IMETHOD void	random (Rotation &R)
IMETHOD void	random (Frame &F)
IMETHOD void	posrandom (Vector &a)
IMETHOD void	posrandom (Twist &a)
IMETHOD void	posrandom (Wrench &a)
IMETHOD void	posrandom (Rotation &R)
IMETHOD void	posrandom (Frame &F)
IMETHOD bool	operator== (const Frame &a, const Frame &b)
IMETHOD bool	operator!= (const Frame &a, const Frame &b)
IMETHOD bool	operator== (const Vector &a, const Vector &b)
IMETHOD bool	operator!= (const Vector &a, const Vector &b)
IMETHOD bool	operator== (const Twist &a, const Twist &b)
IMETHOD bool	operator!= (const Twist &a, const Twist &b)
IMETHOD bool	operator== (const Wrench &a, const Wrench &b)
IMETHOD bool	operator!= (const Wrench &a, const Wrench &b)
IMETHOD bool	operator!= (const Rotation &a, const Rotation &b)
IMETHOD bool	operator== (const Vector2 &a, const Vector2 &b)
IMETHOD bool	operator!= (const Vector2 &a, const Vector2 &b)

Detailed Description

Inlined member functions and global functions that relate to the classes in frames.cpp.

Function Documentation

addDelta() [1/5]

IMETHOD Frame addDelta	(	const Frame &	a,
		const Twist &	da,
		double	dt )

References addDelta().

addDelta() [2/5]

IMETHOD Rotation addDelta	(	const Rotation &	a,
		const Vector &	da,
		double	dt )

References Rot().

addDelta() [3/5]

IMETHOD Twist addDelta	(	const Twist &	a,
		const Twist &	da,
		double	dt )

References addDelta().

addDelta() [4/5]

IMETHOD Vector addDelta	(	const Vector &	a,
		const Vector &	da,
		double	dt )

Referenced by addDelta(), addDelta(), and addDelta().

addDelta() [5/5]

IMETHOD Wrench addDelta	(	const Wrench &	a,
		const Wrench &	da,
		double	dt )

References addDelta().

diff() [1/5]

IMETHOD Twist diff	(	const Frame &	F_a_b1,
		const Frame &	F_a_b2,
		double	dt )

References diff().

diff() [2/5]

IMETHOD Vector diff	(	const Rotation &	R_a_b1,
		const Rotation &	R_a_b2,
		double	dt )

diff() [3/5]

IMETHOD Twist diff	(	const Twist &	a,
		const Twist &	b,
		double	dt )

References diff().

diff() [4/5]

IMETHOD Vector diff	(	const Vector &	a,
		const Vector &	b,
		double	dt )

Referenced by diff(), diff(), and diff().

diff() [5/5]

IMETHOD Wrench diff	(	const Wrench &	a,
		const Wrench &	b,
		double	dt )

References diff().

dot() [1/3]

IMETHOD double dot	(	const Twist &	lhs,
		const Wrench &	rhs )

References dot().

dot() [2/3]

IMETHOD double dot	(	const Vector &	lhs,
		const Vector &	rhs )

Referenced by dot(), and dot().

dot() [3/3]

IMETHOD double dot	(	const Wrench &	rhs,
		const Twist &	lhs )

References dot().

Equal() [1/7]

IMETHOD bool Equal	(	const Frame &	a,
		const Frame &	b,
		double	eps )

References Equal(), and Equal().

Equal() [2/7]

IMETHOD bool Equal	(	const Frame2 &	a,
		const Frame2 &	b,
		double	eps )

References Equal(), and Equal().

Equal() [3/7]

IMETHOD bool Equal	(	const Rotation2 &	a,
		const Rotation2 &	b,
		double	eps )

References Equal(), and Equal().

Equal() [4/7]

IMETHOD bool Equal	(	const Twist &	a,
		const Twist &	b,
		double	eps )

References Equal(), and Equal().

Equal() [5/7]

IMETHOD bool Equal	(	const Vector &	a,
		const Vector &	b,
		double	eps )

References Equal(), and Equal().

Referenced by Equal(), Equal(), Equal(), Equal(), Equal(), Equal(), Equal(), operator==(), operator==(), operator==(), operator==(), and operator==().

Equal() [6/7]

IMETHOD bool Equal	(	const Vector2 &	a,
		const Vector2 &	b,
		double	eps )

References Equal(), and Equal().

Equal() [7/7]

IMETHOD bool Equal	(	const Wrench &	a,
		const Wrench &	b,
		double	eps )

References Equal(), and Equal().

operator!=() [1/6]

IMETHOD bool operator!=	(	const Frame &	a,
		const Frame &	b )

References operator==().

operator!=() [2/6]

IMETHOD bool operator!=	(	const Rotation &	a,
		const Rotation &	b )

References operator==().

operator!=() [3/6]

IMETHOD bool operator!=	(	const Twist &	a,
		const Twist &	b )

References operator==().

operator!=() [4/6]

IMETHOD bool operator!=	(	const Vector &	a,
		const Vector &	b )

References operator==().

operator!=() [5/6]

IMETHOD bool operator!=	(	const Vector2 &	a,
		const Vector2 &	b )

References operator==().

operator!=() [6/6]

IMETHOD bool operator!=	(	const Wrench &	a,
		const Wrench &	b )

References operator==().

operator*() [1/14]

Frame operator*	(	const Frame &	lhs,
		const Frame &	rhs )

operator*() [2/14]

IMETHOD Frame2 operator*	(	const Frame2 &	lhs,
		const Frame2 &	rhs )

operator*() [3/14]

IMETHOD Rotation2 operator*	(	const Rotation2 &	lhs,
		const Rotation2 &	rhs )

operator*() [4/14]

Twist operator*	(	const Twist &	lhs,
		const Twist &	rhs )

operator*() [5/14]

Wrench operator*	(	const Twist &	lhs,
		const Wrench &	rhs )

operator*() [6/14]

Twist operator*	(	const Twist &	lhs,
		double	rhs )

operator*() [7/14]

Vector operator*	(	const Vector &	lhs,
		const Vector &	rhs )

operator*() [8/14]

Vector operator*	(	const Vector &	lhs,
		double	rhs )

operator*() [9/14]

IMETHOD Vector2 operator*	(	const Vector2 &	lhs,
		double	rhs )

operator*() [10/14]

Wrench operator*	(	const Wrench &	lhs,
		double	rhs )

operator*() [11/14]

Twist operator*	(	double	lhs,
		const Twist &	rhs )

operator*() [12/14]

Vector operator*	(	double	lhs,
		const Vector &	rhs )

operator*() [13/14]

IMETHOD Vector2 operator*	(	double	lhs,
		const Vector2 &	rhs )

operator*() [14/14]

Wrench operator*	(	double	lhs,
		const Wrench &	rhs )

operator+() [1/4]

Twist operator+	(	const Twist &	lhs,
		const Twist &	rhs )

operator+() [2/4]

IMETHOD Vector operator+	(	const Vector &	lhs,
		const Vector &	rhs )

operator+() [3/4]

IMETHOD Vector2 operator+	(	const Vector2 &	lhs,
		const Vector2 &	rhs )

operator+() [4/4]

Wrench operator+	(	const Wrench &	lhs,
		const Wrench &	rhs )

operator-() [1/8]

Twist operator-

(

const Twist &

arg

)

operator-() [2/8]

Twist operator-	(	const Twist &	lhs,
		const Twist &	rhs )

operator-() [3/8]

Vector operator-

(

const Vector &

arg

)

operator-() [4/8]

IMETHOD Vector operator-	(	const Vector &	lhs,
		const Vector &	rhs )

operator-() [5/8]

IMETHOD Vector2 operator-

(

const Vector2 &

arg

)

operator-() [6/8]

IMETHOD Vector2 operator-	(	const Vector2 &	lhs,
		const Vector2 &	rhs )

operator-() [7/8]

Wrench operator-

(

const Wrench &

arg

)

operator-() [8/8]

Wrench operator-	(	const Wrench &	lhs,
		const Wrench &	rhs )

operator/() [1/4]

Twist operator/	(	const Twist &	lhs,
		double	rhs )

operator/() [2/4]

Vector operator/	(	const Vector &	lhs,
		double	rhs )

operator/() [3/4]

IMETHOD Vector2 operator/	(	const Vector2 &	lhs,
		double	rhs )

operator/() [4/4]

Wrench operator/	(	const Wrench &	lhs,
		double	rhs )

operator==() [1/5]

IMETHOD bool operator==	(	const Frame &	a,
		const Frame &	b )

References Equal().

Referenced by operator!=(), operator!=(), operator!=(), operator!=(), operator!=(), and operator!=().

operator==() [2/5]

IMETHOD bool operator==	(	const Twist &	a,
		const Twist &	b )

References Equal().

operator==() [3/5]

IMETHOD bool operator==	(	const Vector &	a,
		const Vector &	b )

References Equal().

operator==() [4/5]

IMETHOD bool operator==	(	const Vector2 &	a,
		const Vector2 &	b )

References Equal().

operator==() [5/5]

IMETHOD bool operator==	(	const Wrench &	a,
		const Wrench &	b )

References Equal().

posrandom() [1/5]

IMETHOD void posrandom

(

Frame &

F

)

References random().

posrandom() [2/5]

IMETHOD void posrandom

(

Rotation &

R

)

References posrandom().

posrandom() [3/5]

IMETHOD void posrandom

(

Twist &

a

)

References posrandom().

posrandom() [4/5]

IMETHOD void posrandom

(

Vector &

a

)

References posrandom().

Referenced by posrandom(), posrandom(), posrandom(), and posrandom().

posrandom() [5/5]

IMETHOD void posrandom

(

Wrench &

a

)

References posrandom().

random() [1/5]

IMETHOD void random

(

Frame &

F

)

References random().

random() [2/5]

IMETHOD void random

(

Rotation &

R

)

References random().

random() [3/5]

IMETHOD void random

(

Twist &

a

)

References random().

random() [4/5]

IMETHOD void random

(

Vector &

a

)

addDelta operator for displacement rotational velocity.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters

a	: displacement rotational velocity
da	: rotational velocity

Returns

displacement rotational velocity

Warning

do not confuse displacement rotational velocities and velocities

do not confuse displacement twist and twist.

IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) { return getRot(addDelta(Rot(a),da,dt)); }

addDelta operator for displacement twist.

The Vector arguments here represent a displacement rotational velocity. i.e. a rotation around a fixed axis for a certain angle. For this representation you cannot use diff() but have to use diff_displ().

Parameters

a	: displacement twist
da	: twist

Returns

displacement twist

Warning

do not confuse displacement rotational velocities and velocities

do not confuse displacement twist and twist.

IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) { return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt)); }

References random().

Referenced by posrandom(), random(), random(), random(), random(), and random().

random() [5/5]

IMETHOD void random

(

Wrench &

a

)

References random().

Rot()

IMETHOD Rotation Rot

(

const Vector &

axis_a_b

)

axis_a_b is a rotation vector, its norm is a rotation angle axis_a_b rotates the a frame towards the b frame.

This routine returns the rotation matrix R_a_b

Referenced by addDelta().

SetToZero() [1/4]

IMETHOD void SetToZero

(

Twist &

v

)

References SetToZero().

SetToZero() [2/4]

IMETHOD void SetToZero

(

Vector &

v

)

Referenced by SetToZero(), and SetToZero().

SetToZero() [3/4]

IMETHOD void SetToZero

(

Vector2 &

v

)

SetToZero() [4/4]

IMETHOD void SetToZero

(

Wrench &

v

)

References SetToZero().