Robot Dynamics Library: RobotDynamics::Math::SpatialAcceleration Class Reference

SpatialAcceleration. For clarity, the ReferenceFrames are stated as follows. A spatial acceleration is the acceleration of the SpatialAcceleration::bodyFrame with respect to the SpatialAcceleration::baseFrame expressed in the SpatialAcceleration::expressedInFrame. More...

#include <SpatialAcceleration.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialAcceleration:

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Collaboration diagram for RobotDynamics::Math::SpatialAcceleration:

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Public Member Functions
	SpatialAcceleration ()
	Constructor. ReferenceFrame is initialized to nullptr and vector elements to 0. More...

	SpatialAcceleration (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const double wx, const double wy, const double wz, const double vx, const double vy, const double vz)
	Constructor. More...

	SpatialAcceleration (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const Vector3d &w, const Vector3d v)
	Constructor. More...

	SpatialAcceleration (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const SpatialVector &v)
	Constructor. More...

	SpatialAcceleration (const SpatialAcceleration &spatialAcceleration)
	Constructor. More...

SpatialAcceleration &	operator= (const SpatialAcceleration &a)

void	changeFrameWithRelativeMotion (ReferenceFramePtr newFrame, SpatialMotion twistOfCurrentFrameWithRespectToNewFrame, const SpatialMotion &twistOfBodyWrtBaseExpressedInCurrent)
	Use this method to change the ReferenceFrame::expressedInFrame of a SpatialAcceleration if there is relative acceleration between the current frame and the desired frame. See V. Duindam 2.8(c) for how to transform a twist(i.e. SpatialMotion), and take the derivative. More...

void	operator+= (const SpatialAcceleration &vector)
	Add a SpatialAcceleration, . Frame checks are performed to ensure frame rules are adhered to. More...

void	operator-= (const SpatialAcceleration &vector)
	Subtract a SpatialAcceleration, . Frame checks are performed to ensure frame rules are adhered to. More...

Public Member Functions inherited from RobotDynamics::Math::SpatialMotion
	SpatialMotion ()
	Constructor. SpatialMotion::bodyFrame, SpatialMotion::baseFrame, and RobotDynamics::FrameObject::referenceFrame initialized to nullptr. More...

	SpatialMotion (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const double wx, const double wy, const double wz, const double vx, const double vy, const double vz)
	Constructor. More...

	SpatialMotion (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const Vector3d &w, const Vector3d v)
	Constructor. More...

	SpatialMotion (ReferenceFramePtr bodyFrame, ReferenceFramePtr baseFrame, ReferenceFramePtr expressedInFrame, const SpatialVector &v)
	Constructor. More...

	SpatialMotion (const SpatialMotion &spatialMotion)
	Copy constructor. More...

FrameVector	getFramedLinearPart () const
	Get linear part of spatial motion as a frame vector. More...

FrameVector	getFramedAngularPart () const
	Get angular part of spatial motion as a frame vector. More...

Math::TransformableGeometricObject *	getTransformableGeometricObject ()
	Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method. More...

SpatialMotion	changeFrameAndCopy (ReferenceFramePtr referenceFrame) const
	Copy and change frame. More...

ReferenceFramePtr	getBodyFrame () const
	Get a SpatialMotions SpatialMotion::bodyFrame. More...

ReferenceFramePtr	getBaseFrame () const
	Get a SpatialMotions SpatialMotion::baseFrame. More...

MotionVector	toMotionVector () const
	Get a copy of this SpatialMotion as type MotionVector. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const SpatialVector &v)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, double wx, double wy, double wz, double vx, double vy, double vz)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, Vector3d angularPart, Vector3d linearPart)

SpatialMotion &	operator= (const SpatialMotion &v)

void	operator+= (const SpatialMotion &v)
	Overloaded += operator. Frame checks are performed. More...

void	operator-= (const SpatialMotion &v)
	Overloaded -= operator. Frame checks are performed. More...

void	operator%= (const SpatialMotion &v)
	This is an operator for performing what is referred to in Featherstone as the spatial vector cross( $\times$ ) operator times a MotionVector. In VDuindam the spatial vector cross operator is referred to as the adjoint of a twist, denoted . This method performs,. More...

void	setBodyFrame (ReferenceFramePtr referenceFrame)
	Sets the body frame of a spatial motion. More...

void	setBaseFrame (ReferenceFramePtr referenceFrame)
	Sets the base frame of a spatial motion. More...

Public Member Functions inherited from RobotDynamics::Math::MotionVector
template<typename OtherDerived >
	MotionVector (const Eigen::MatrixBase< OtherDerived > &other)
	Constructor. More...

	MotionVector (const MotionVector &v)

MotionVector &	operator= (const MotionVector &other)
	Overload equal operator. More...

EIGEN_STRONG_INLINE	MotionVector ()
	Empty constructor. More...

	MotionVector (const double v0, const double v1, const double v2, const double v3, const double v4, const double v5)
	Constructor. More...

EIGEN_STRONG_INLINE SpatialVector	toSpatialVector () const
	Get a copy of a MotionVector as a SpatialVector. More...

EIGEN_STRONG_INLINE void	set (const MotionVector &v)
	Setter. More...

EIGEN_STRONG_INLINE double &	wx ()
	Get a reference to the angular-x component. More...

EIGEN_STRONG_INLINE double &	wy ()
	Get a reference to the angular-y component. More...

EIGEN_STRONG_INLINE double &	wz ()
	Get a reference to the angular-z component. More...

EIGEN_STRONG_INLINE double	wx () const
	Get a copy of the angular-x component. More...

EIGEN_STRONG_INLINE double	wy () const
	Get a copy of the angular-y component. More...

EIGEN_STRONG_INLINE double	wz () const
	Get a copy of the angular-z component. More...

EIGEN_STRONG_INLINE double &	vx ()
	Get a reference to the linear-x component. More...

EIGEN_STRONG_INLINE double &	vy ()
	Get a reference to the linear-y component. More...

EIGEN_STRONG_INLINE double &	vz ()
	Get a reference to the linear-z component. More...

EIGEN_STRONG_INLINE double	vx () const
	Get a copy of the linear-x component. More...

EIGEN_STRONG_INLINE double	vy () const
	Get a copy of the linear-y component. More...

EIGEN_STRONG_INLINE double	vz () const
	Get a copy of the linear-z component. More...

void	transform (const SpatialTransform &X)
	Transforms a motion vector. Performs . More...

MotionVector	transform_copy (const SpatialTransform &X) const
	Copies, transforms, and returns a MotionVector. Performs . More...

MotionVector	cross (const MotionVector &v)
	See V. Duindum thesis p.25 for an explanation of what operator is. It is also in Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times$ operator for spatial vectors. Given two SpatialMotion vectors, and , this method returns $v_3 = (v_1\times) v_2$ . Expanded, it looks like,. More...

ForceVector	cross (const ForceVector &v)
	See Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times $ operator for spatial vectors. Given a SpatialMotion vector, , and SpatialForceVector, , this method returns $f_2 = (v_1\times ) f_1$ . Expanded, it looks like,. More...

SpatialMatrix	crossm ()
	Get the spatial motion cross matrix,. More...

SpatialMatrix	crossf ()
	Get the spatial force cross matrix. More...

MotionVector	operator%= (const MotionVector &v)
	Operator for performing the RBDA $\times$ operator for two motion vectors, i.e. $m_2=(m_1\times)m_2$ . More...

ForceVector	operator%= (const ForceVector &v)
	Operator for performing the RBDA $\times $ operator for a motion vector and a force vector, i.e. $f=(m\times )f$ . More...

MotionVector	operator+= (const MotionVector &v)
	Overloaded += operator for a MotionVector. More...

Public Member Functions inherited from RobotDynamics::Math::SpatialVector
template<typename OtherDerived >
	SpatialVector (const Eigen::MatrixBase< OtherDerived > &other)

template<typename OtherDerived >
SpatialVector &	operator= (const Eigen::MatrixBase< OtherDerived > &other)

EIGEN_STRONG_INLINE	SpatialVector ()

EIGEN_STRONG_INLINE	SpatialVector (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)

EIGEN_STRONG_INLINE	SpatialVector (const Vector3d &angularPart, const Vector3d &linearPart)

EIGEN_STRONG_INLINE void	set (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)

EIGEN_STRONG_INLINE Vector3d	getAngularPart () const

EIGEN_STRONG_INLINE Vector3d	getLinearPart () const

void	zeroAngularPart ()

void	zeroLinearPart ()

void	setAngularPart (const Vector3d &v)

void	setAngularPart (double x, double y, double z)

void	setLinearPart (const Vector3d &v)

void	setLinearPart (double x, double y, double z)

EIGEN_STRONG_INLINE void	set (const Vector3d &angularPart, const Vector3d &linearPart)

SpatialMatrix	crossm ()
	Get the spatial motion cross matrix. More...

SpatialVector	crossm (const SpatialVector &v)
	Spatial motion cross times spatial motion. More...

SpatialMatrix	crossf ()
	Get the spatial force cross matrix. More...

SpatialVector	crossf (const SpatialVector &v)
	Spatial motion cross spatial force. More...

Public Member Functions inherited from RobotDynamics::FrameObject
	FrameObject (ReferenceFramePtr referenceFrame)

virtual	~FrameObject ()
	Destructor. More...

virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...

ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...

void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...

void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two FrameObjects hold the same ReferenceFrame. More...

void	checkReferenceFramesMatch (FrameObject *frameObject) const

Additional Inherited Members
Public Types inherited from RobotDynamics::Math::SpatialVector
typedef Eigen::Matrix< double, 6, 1 >	Base

Protected Attributes inherited from RobotDynamics::Math::SpatialMotion
ReferenceFramePtr	bodyFrame

ReferenceFramePtr	baseFrame

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

Constructor & Destructor Documentation

◆ SpatialAcceleration() [1/5]

RobotDynamics::Math::SpatialAcceleration::SpatialAcceleration ( )

inline

Constructor. ReferenceFrame is initialized to nullptr and vector elements to 0.

◆ SpatialAcceleration() [2/5]

RobotDynamics::Math::SpatialAcceleration::SpatialAcceleration	(	ReferenceFramePtr	bodyFrame,
		ReferenceFramePtr	baseFrame,
		ReferenceFramePtr	expressedInFrame,
		const double	wx,
		const double	wy,
		const double	wz,
		const double	vx,
		const double	vy,
		const double	vz
	)

inline

Constructor.

Parameters

bodyFrame	The acceleration is of this frame
baseFrame	The acceleration is relative to this frame
expressedInFrame	The acceleration is expressed in this frame
wx	Angular x-coordinate
wy	Angular y-coordinate
wz	Angular z-coordinate
vx	Linear x-coordinate
vy	Linear y-coordinate
vz	Linear z-coordinate

◆ SpatialAcceleration() [3/5]

RobotDynamics::Math::SpatialAcceleration::SpatialAcceleration	(	ReferenceFramePtr	bodyFrame,
		ReferenceFramePtr	baseFrame,
		ReferenceFramePtr	expressedInFrame,
		const Vector3d &	w,
		const Vector3d	v
	)

inline

Constructor.

Parameters

bodyFrame	The acceleration is of this frame
baseFrame	The acceleration is relative to this frame
expressedInFrame	The acceleration is expressed in this frame
w	Vector containig the angular component of the acceleration
v	Vector containing the linear component of the acceleration

◆ SpatialAcceleration() [4/5]

RobotDynamics::Math::SpatialAcceleration::SpatialAcceleration	(	ReferenceFramePtr	bodyFrame,
		ReferenceFramePtr	baseFrame,
		ReferenceFramePtr	expressedInFrame,
		const SpatialVector &	v
	)

inline

Constructor.

Parameters

bodyFrame	The acceleration is of this frame
baseFrame	The acceleration is relative to this frame
expressedInFrame	The acceleration is expressed in this frame
v

◆ SpatialAcceleration() [5/5]

RobotDynamics::Math::SpatialAcceleration::SpatialAcceleration ( const SpatialAcceleration & spatialAcceleration )

inline

Constructor.

Parameters

spatialAcceleration

Member Function Documentation

◆ changeFrameWithRelativeMotion()

void RobotDynamics::Math::SpatialAcceleration::changeFrameWithRelativeMotion	(	ReferenceFramePtr	newFrame,
		SpatialMotion	twistOfCurrentFrameWithRespectToNewFrame,
		const SpatialMotion &	twistOfBodyWrtBaseExpressedInCurrent
	)

Use this method to change the ReferenceFrame::expressedInFrame of a SpatialAcceleration if there is relative acceleration between the current frame and the desired frame. See V. Duindam 2.8(c) for how to transform a twist(i.e. SpatialMotion), and take the derivative.

Parameters

newFrame	The new RobotDynamics::ReferenceFrame
twistOfCurrentFrameWithRespectToNewFrame
twistOfBodyWrtBaseExpressedInCurrent

◆ operator+=()

void RobotDynamics::Math::SpatialAcceleration::operator+= ( const SpatialAcceleration & vector )

Add a SpatialAcceleration, $ a_sp=a_sp+vector $ . Frame checks are performed to ensure frame rules are adhered to.

Parameters

vector

◆ operator-=()

void RobotDynamics::Math::SpatialAcceleration::operator-= ( const SpatialAcceleration & vector )

Subtract a SpatialAcceleration, $ a_sp=a_sp-vector $ . Frame checks are performed to ensure frame rules are adhered to.

Parameters

vector

◆ operator=()

SpatialAcceleration& RobotDynamics::Math::SpatialAcceleration::operator= ( const SpatialAcceleration & a )

inline

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

rdl_dynamics/include/rdl_dynamics/SpatialAcceleration.hpp
rdl_dynamics/src/SpatialAcceleration.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SpatialAcceleration() [1/5]

◆ SpatialAcceleration() [2/5]

◆ SpatialAcceleration() [3/5]

◆ SpatialAcceleration() [4/5]

◆ SpatialAcceleration() [5/5]

Member Function Documentation

◆ changeFrameWithRelativeMotion()

◆ operator+=()

◆ operator-=()

◆ operator=()