|
Drake
|
|
Drake
|
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.
#include <drake/multibody/test_utilities/spatial_kinematics.h>
Public Member Functions | |
| SpatialKinematicsPVA (const math::RigidTransform< 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 math::RotationMatrix< 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 math::RigidTransform< 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 math::RotationMatrix< 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 |
|
default |
|
default |
| SpatialKinematicsPVA | ( | const math::RigidTransform< T > & | X_NB, |
| const SpatialVelocity< T > & | V_NBo_N, | ||
| const SpatialAcceleration< T > & | A_NBo_N | ||
| ) |
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. |
| SpatialKinematicsPVA | ( | const math::RotationMatrix< 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.
| [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. |
| const Vector3<T>& angular_acceleration | ( | ) | const |
Returns B's angular acceleration in N, expressed in N.
| alpha_NB_N,B's | angular acceleration in N, expressed in N. |
| const Vector3<T>& angular_velocity | ( | ) | const |
Returns B's angular velocity in N, expressed in N.
| w_NB_N,B's | angular velocity in N, expressed in N. |
|
default |
|
default |
| const Vector3<T>& position_vector | ( | ) | const |
Returns the position vector from No to Bo, expressed in N.
| p_NoBo_N,the | position vector from No to Bo, expressed in N. |
| const math::RotationMatrix<T>& rotation_matrix | ( | ) | const |
Returns the 3x3 rotation matrix relating Nx, Ny, Nz to Bx, By, Bz.
| R_NB,the | 3x3 rotation matrix relating frames N and B. |
| 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.
| A_NBo_N | spatial acceleration containing alpha_NB_N and a_NBo_N. |
| 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.
| V_NBo_N | spatial velocity containing w_NB_N and v_NBo_N. |
| const math::RigidTransform<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).
| X_NB | transform containing orientation R_NB and position p_NoBo_N. |
| const Vector3<T>& translational_acceleration | ( | ) | const |
Returns Bo's acceleration in N, expressed in N.
| a_NBo_N,Bo's | acceleration in N, expressed in N. |
| const Vector3<T>& translational_velocity | ( | ) | const |
Returns Bo's translational velocity in N, expressed in N.
| v_NBo_N,Bo's | translational velocity in N, expressed in N. |