wbc
Twist.hpp
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1#ifndef WBC_TYPES_TWIST_HPP
2#define WBC_TYPES_TWIST_HPP
3
4#include "Pose.hpp"
5
6namespace wbc { namespace types {
7
8class Twist{
9public:
10 Eigen::Vector3d linear;
11 Eigen::Vector3d angular;
12
13 void setZero(){
14 linear.setZero();
15 angular.setZero();
16 }
17
18 Eigen::VectorXd vector6d() const{
19 Eigen::VectorXd v(6);
20 v.segment(0,3) = linear;
21 v.segment(3,3) = angular;
22 return v;
23 }
24};
25
46Twist operator*(const Pose& transform, const Twist& twist_in);
47
50
51
52}
53}
54
55#endif
Definition Pose.hpp:9
Definition Twist.hpp:8
Eigen::Vector3d linear
Definition Twist.hpp:10
Eigen::Vector3d angular
Definition Twist.hpp:11
void setZero()
Definition Twist.hpp:13
Eigen::VectorXd vector6d() const
Definition Twist.hpp:18
Definition Contact.hpp:6
SpatialAcceleration operator*(const Pose &transform, const SpatialAcceleration &acc_in)
Definition SpatialAcceleration.cpp:5
types::Twist operator-(const types::Pose &a, const types::Pose &b)
Definition Twist.cpp:13
Definition ContactsAccelerationConstraint.cpp:3