Drake
SpatialKinematicsPVA< T > Class Template Reference

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
 
SpatialKinematicsPVAoperator= (const SpatialKinematicsPVA &)=default
 
 SpatialKinematicsPVA (SpatialKinematicsPVA &&)=default
 
SpatialKinematicsPVAoperator= (SpatialKinematicsPVA &&)=default
 

Detailed Description

template<typename T>
class drake::multibody::multibody_tree::test_utilities::SpatialKinematicsPVA< T >

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. Right-handed sets of orthogonal unit vectors Bx, By, Bz and Nx, Ny, Nz are fixed in frames B and N, respectively.

Constructor & Destructor Documentation

SpatialKinematicsPVA ( const SpatialKinematicsPVA< T > &  )
default
SpatialKinematicsPVA ( const Isometry3< T > &  X_NB,
const SpatialVelocity< T > &  V_NBo_N,
const SpatialAcceleration< T > &  A_NBo_N 
)
inline

Constructor that populates the members of this class.

Parameters
[in]X_NBtransform relating the orientation/position of N to B.
[in]V_NBo_NB's spatial velocity in N, expressed in N.
[in]A_NBo_NB's spatial acceleration in N, expressed in N.
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 
)
inline

Constructor that populates the members of this class.

Parameters
[in]R_NB3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz.
[in]p_NoBo_Nposition vector from No to Bo, expressed in N.
[in]w_NB_NB's angular velocity in N, expressed in N.
[in]v_NBo_NBo's translational velocity in N, expressed in N.
[in]alpha_NB_NB's angular acceleration in N, expressed in N.
[in]a_NBo_NBo's translational acceleration in N, expressed in N.

Member Function Documentation

const Vector3<T>& angular_acceleration ( ) const
inline

Returns B's angular acceleration in N, expressed in N.

Return values
alpha_NB_N,B'sangular acceleration in N, expressed in N.
const Vector3<T>& angular_velocity ( ) const
inline

Returns B's angular velocity in N, expressed in N.

Return values
w_NB_N,B'sangular velocity in N, expressed in N.
SpatialKinematicsPVA& operator= ( SpatialKinematicsPVA< T > &&  )
default
SpatialKinematicsPVA& operator= ( const SpatialKinematicsPVA< T > &  )
default
const Vector3<T>& position_vector ( ) const
inline

Returns the position vector from No to Bo, expressed in N.

Return values
p_NoBo_N,theposition vector from No to Bo, expressed in N.
const Matrix3<T>& rotation_matrix ( ) const
inline

Returns the 3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz.

Return values
R_NB,the3x3 rotation matrix relating frames N and B.
const SpatialAcceleration<T>& spatial_acceleration ( ) const
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.

Return values
A_NBo_Nspatial acceleration containing alpha_NB_N and a_NBo_N.
const SpatialVelocity<T>& spatial_velocity ( ) const
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.

Return values
V_NBo_Nspatial velocity containing w_NB_N and v_NBo_N.
const Isometry3<T>& transform ( ) const
inline

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).

Return values
X_NBtransform containing orientation R_NB and position p_NoBo_N.
const Vector3<T>& translational_acceleration ( ) const
inline

Returns Bo's acceleration in N, expressed in N.

Return values
a_NBo_N,Bo'sacceleration in N, expressed in N.
const Vector3<T>& translational_velocity ( ) const
inline

Returns Bo's translational velocity in N, expressed in N.

Return values
v_NBo_N,Bo'stranslational velocity in N, expressed in N.

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