Drake

Utility class containing the transform and spatial velocity/acceleration of an arbitrary frame B in another arbitrary frame N (e.g., the world). More...
#include <multibody/multibody_tree/test_utilities/spatial_kinematics.h>
Public Member Functions  
SpatialKinematicsPVA (const Isometry3< T > &X_NB, const SpatialVelocity< T > &V_NBo_N, const SpatialAcceleration< T > &A_NBo_N)  
Constructor that populates the members of this class. More...  
SpatialKinematicsPVA (const Matrix3< T > &R_NB, const Vector3< T > &p_NoBo_N, const Vector3< T > &w_NB_N, const Vector3< T > &v_NBo_N, const Vector3< T > &alpha_NB_N, const Vector3< T > &a_NBo_N)  
Constructor that populates the members of this class. More...  
const Isometry3< T > &  transform () const 
Returns the transform that contains the 3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz and the position from No to Bo, expressed in N). More...  
const SpatialVelocity< T > &  spatial_velocity () const 
Returns the spatial velocity that contains B's angular velocity in N expressed in N and Bo's velocity in N, expressed in N. More...  
const SpatialAcceleration< T > &  spatial_acceleration () const 
Returns the spatial acceleration that contains B's angular velocity in N expressed in N and Bo's velocity in N, expressed in N. More...  
const Matrix3< T > &  rotation_matrix () const 
Returns the 3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz. More...  
const Vector3< T > &  position_vector () const 
Returns the position vector from No to Bo, expressed in N. More...  
const Vector3< T > &  angular_velocity () const 
Returns B's angular velocity in N, expressed in N. More...  
const Vector3< T > &  translational_velocity () const 
Returns Bo's translational velocity in N, expressed in N. More...  
const Vector3< T > &  angular_acceleration () const 
Returns B's angular acceleration in N, expressed in N. More...  
const Vector3< T > &  translational_acceleration () const 
Returns Bo's acceleration in N, expressed in N. More...  
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable  
SpatialKinematicsPVA (const SpatialKinematicsPVA &)=default  
SpatialKinematicsPVA &  operator= (const SpatialKinematicsPVA &)=default 
SpatialKinematicsPVA (SpatialKinematicsPVA &&)=default  
SpatialKinematicsPVA &  operator= (SpatialKinematicsPVA &&)=default 
Utility class containing the transform and spatial velocity/acceleration of an arbitrary frame B in another arbitrary frame N (e.g., the world).
Herein, Bo and No denote generic points (e.g., the origins) of frames B and N, respectively. Righthanded sets of orthogonal unit vectors Bx, By, Bz and Nx, Ny, Nz are fixed in frames B and N, respectively.

default 

default 

inline 
Constructor that populates the members of this class.
[in]  X_NB  transform relating the orientation/position of N to B. 
[in]  V_NBo_N  B's spatial velocity in N, expressed in N. 
[in]  A_NBo_N  B's spatial acceleration in N, expressed in N. 

inline 
Constructor that populates the members of this class.
[in]  R_NB  3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz. 
[in]  p_NoBo_N  position vector from No to Bo, expressed in N. 
[in]  w_NB_N  B's angular velocity in N, expressed in N. 
[in]  v_NBo_N  Bo's translational velocity in N, expressed in N. 
[in]  alpha_NB_N  B's angular acceleration in N, expressed in N. 
[in]  a_NBo_N  Bo's translational acceleration in N, expressed in N. 
Returns B's angular acceleration in N, expressed in N.
alpha_NB_N,B's  angular acceleration in N, expressed in N. 
Returns B's angular velocity in N, expressed in N.
w_NB_N,B's  angular velocity in N, expressed in N. 

default 

default 
Returns the position vector from No to Bo, expressed in N.
p_NoBo_N,the  position vector from No to Bo, expressed in N. 
Returns the 3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz.
R_NB,the  3x3 rotation matrix relating frames N and B. 

inline 
Returns the spatial acceleration that contains B's angular velocity in N expressed in N and Bo's velocity in N, expressed in N.
A_NBo_N  spatial acceleration containing alpha_NB_N and a_NBo_N. 

inline 
Returns the spatial velocity that contains B's angular velocity in N expressed in N and Bo's velocity in N, expressed in N.
V_NBo_N  spatial velocity containing w_NB_N and v_NBo_N. 
Returns the transform that contains the 3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz and the position from No to Bo, expressed in N).
X_NB  transform containing orientation R_NB and position p_NoBo_N. 
Returns Bo's acceleration in N, expressed in N.
a_NBo_N,Bo's  acceleration in N, expressed in N. 
Returns Bo's translational velocity in N, expressed in N.
v_NBo_N,Bo's  translational velocity in N, expressed in N. 