acceleration of a rigid body More...

#include <RigidBodyAcceleration.h>

Public Types
typedef kindr::AngularAcceleration< SCALAR, 3 >	AngularAcceleration

Public Member Functions
	RigidBodyAcceleration ()

	RigidBodyAcceleration (LinearAcceleration &transAcceleration, AngularAcceleration &anglAcceleration)

	RigidBodyAcceleration (const Eigen::Matrix< SCALAR, 6, 1 > &in)

void	fromVector6d (const Eigen::Matrix< SCALAR, 6, 1 > &in)

const Eigen::Matrix< SCALAR, 6, 1 >	getVector6d () const

LinearAcceleration &	getTranslationalAcceleration ()
	get translatory acceleration More...

const LinearAcceleration &	getTranslationalAcceleration () const
	get constant translatory acceleration More...

AngularAcceleration &	getAngularAcceleration ()
	get angular acceleration More...

const AngularAcceleration &	getAngularAcceleration () const
	get constant angular acceleration More...

Eigen::Matrix< SCALAR, 6, 1 >	accelerations ()
	get accelerations as a "Twist" More...

void	setTranslatoryAcceleration (LinearAcceleration &transAcceleration)
	set translatory acceleration More...

void	setAngularAcceleration (AngularAcceleration &anglAcceleration)
	set angular acceleration More...

void	setZero ()
	set acceleration to zero More...

Static Public Member Functions
static RigidBodyAcceleration	Zero ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef kindr::Acceleration< SCALAR, 3 >	LinearAcceleration

Protected Attributes
AngularAcceleration	anglAcceleration_

LinearAcceleration	transAcceleration_

Detailed Description

template<typename SCALAR>
class ct::rbd::tpl::RigidBodyAcceleration< SCALAR >

acceleration of a rigid body

Member Typedef Documentation

◆ AngularAcceleration

template<typename SCALAR >

typedef kindr::AngularAcceleration<SCALAR, 3> ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::AngularAcceleration

Constructor & Destructor Documentation

◆ RigidBodyAcceleration() [1/3]

template<typename SCALAR >

ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::RigidBodyAcceleration ( )

inline

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setZero().

◆ RigidBodyAcceleration() [2/3]

template<typename SCALAR >

ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::RigidBodyAcceleration	(	LinearAcceleration &	transAcceleration,
		AngularAcceleration &	anglAcceleration
	)

inline

◆ RigidBodyAcceleration() [3/3]

template<typename SCALAR >

ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::RigidBodyAcceleration ( const Eigen::Matrix< SCALAR, 6, 1 > & in )

inline

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d().

Member Function Documentation

◆ fromVector6d()

template<typename SCALAR >

void ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d ( const Eigen::Matrix< SCALAR, 6, 1 > & in )

inline

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_, and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_.

Referenced by ct::rbd::IDControllerFB< Dynamics >::computeDesiredAcceleration(), ct::rbd::Dynamics< RBD, NEE >::FloatingBaseForwardDynamics(), ct::rbd::Dynamics< RBD, NEE >::FloatingBaseID(), ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedForwardDynamics(), and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::RigidBodyAcceleration().

◆ getVector6d()

template<typename SCALAR >

const Eigen::Matrix<SCALAR, 6, 1> ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getVector6d ( ) const

inline

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_, and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_.

◆ getTranslationalAcceleration() [1/2]

template<typename SCALAR >

LinearAcceleration& ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getTranslationalAcceleration ( )

inline

get translatory acceleration

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_.

Referenced by ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toCoordinateAcceleration(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorEulerXyz(), and ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorQuaternion().

◆ getTranslationalAcceleration() [2/2]

template<typename SCALAR >

const LinearAcceleration& ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getTranslationalAcceleration ( ) const

inline

get constant translatory acceleration

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_.

◆ getAngularAcceleration() [1/2]

template<typename SCALAR >

AngularAcceleration& ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getAngularAcceleration ( )

inline

get angular acceleration

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_.

Referenced by ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toCoordinateAcceleration(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorEulerXyz(), and ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::toStateUpdateVectorQuaternion().

◆ getAngularAcceleration() [2/2]

template<typename SCALAR >

const AngularAcceleration& ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getAngularAcceleration ( ) const

inline

get constant angular acceleration

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_.

◆ accelerations()

template<typename SCALAR >

Eigen::Matrix<SCALAR, 6, 1> ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::accelerations ( )

inline

get accelerations as a "Twist"

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_, and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_.

◆ setTranslatoryAcceleration()

template<typename SCALAR >

void ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setTranslatoryAcceleration ( LinearAcceleration & transAcceleration )

inline

set translatory acceleration

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_.

◆ setAngularAcceleration()

template<typename SCALAR >

void ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setAngularAcceleration ( AngularAcceleration & anglAcceleration )

inline

set angular acceleration

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_.

◆ setZero()

template<typename SCALAR >

void ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setZero ( )

inline

set acceleration to zero

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_, ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::LinearAcceleration, and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_.

Referenced by ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::RigidBodyAcceleration(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::setZero(), and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::Zero().

◆ Zero()

template<typename SCALAR >

static RigidBodyAcceleration ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::Zero ( )

inlinestatic

References ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setZero().

Referenced by ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::Zero().

Member Data Documentation

◆ LinearAcceleration

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef kindr::Acceleration<SCALAR, 3> ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::LinearAcceleration

Referenced by ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setZero().

◆ anglAcceleration_

template<typename SCALAR >

AngularAcceleration ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::anglAcceleration_

protected

Referenced by ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::accelerations(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getAngularAcceleration(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getVector6d(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setAngularAcceleration(), and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setZero().

◆ transAcceleration_

template<typename SCALAR >

LinearAcceleration ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::transAcceleration_

protected

Referenced by ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::accelerations(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getTranslationalAcceleration(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::getVector6d(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setTranslatoryAcceleration(), and ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::setZero().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/state/RigidBodyAcceleration.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename SCALAR> class ct::rbd::tpl::RigidBodyAcceleration< SCALAR >

Member Typedef Documentation

◆ AngularAcceleration

Constructor & Destructor Documentation

◆ RigidBodyAcceleration() [1/3]

◆ RigidBodyAcceleration() [2/3]

◆ RigidBodyAcceleration() [3/3]

Member Function Documentation

◆ fromVector6d()

◆ getVector6d()

◆ getTranslationalAcceleration() [1/2]

◆ getTranslationalAcceleration() [2/2]

◆ getAngularAcceleration() [1/2]

◆ getAngularAcceleration() [2/2]

◆ accelerations()

◆ setTranslatoryAcceleration()

◆ setAngularAcceleration()

◆ setZero()

◆ Zero()

Member Data Documentation

◆ LinearAcceleration

◆ anglAcceleration_

◆ transAcceleration_

template<typename SCALAR>
class ct::rbd::tpl::RigidBodyAcceleration< SCALAR >