wbc
src
types
Twist.hpp
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#ifndef WBC_TYPES_TWIST_HPP
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#define WBC_TYPES_TWIST_HPP
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#include "
Pose.hpp
"
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namespace
wbc
{
namespace
types
{
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class
Twist
{
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public
:
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Eigen::Vector3d
linear
;
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Eigen::Vector3d
angular
;
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void
setZero
(){
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linear
.setZero();
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angular
.setZero();
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}
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Eigen::VectorXd
vector6d
()
const
{
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Eigen::VectorXd v(6);
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v.segment(0,3) =
linear
;
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v.segment(3,3) =
angular
;
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return
v;
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}
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};
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Twist
operator*
(
const
Pose
& transform,
const
Twist
& twist_in);
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types::Twist
operator-
(
const
types::Pose
& a,
const
types::Pose
& b);
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}
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}
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#endif
Pose.hpp
wbc::types::Pose
Definition
Pose.hpp:9
wbc::types::Twist
Definition
Twist.hpp:8
wbc::types::Twist::linear
Eigen::Vector3d linear
Definition
Twist.hpp:10
wbc::types::Twist::angular
Eigen::Vector3d angular
Definition
Twist.hpp:11
wbc::types::Twist::setZero
void setZero()
Definition
Twist.hpp:13
wbc::types::Twist::vector6d
Eigen::VectorXd vector6d() const
Definition
Twist.hpp:18
wbc::types
Definition
Contact.hpp:6
wbc::types::operator*
SpatialAcceleration operator*(const Pose &transform, const SpatialAcceleration &acc_in)
Definition
SpatialAcceleration.cpp:5
wbc::types::operator-
types::Twist operator-(const types::Pose &a, const types::Pose &b)
Definition
Twist.cpp:13
wbc
Definition
ContactsAccelerationConstraint.cpp:3
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