mc_tvm::FrameVelocity Struct Reference

#include <mc_tvm/FrameVelocity.h>

Inheritance diagram for mc_tvm::FrameVelocity:

Collaboration diagram for mc_tvm::FrameVelocity:

Public Member Functions
	FrameVelocity (const mc_rbdyn::RobotFrame &frame, const Eigen::Vector6d &dof)
void	reset ()
const mc_rbdyn::RobotFrame &	frame () const noexcept
const Eigen::Vector6d &	dof () const noexcept
void	dof (const Eigen::Vector6d &dof) noexcept
void	refVel (const Eigen::Vector6d &refV) noexcept
const Eigen::Vector6d &	refVel () const noexcept
void	refAccel (const Eigen::Vector6d &refA) noexcept
const Eigen::Vector6d &	refAccel () const noexcept

Detailed Description

This class implements a function to compute the local velocity of a given frame

Constructor & Destructor Documentation

FrameVelocity()

mc_tvm::FrameVelocity::FrameVelocity	(	const mc_rbdyn::RobotFrame &	frame,
		const Eigen::Vector6d &	dof
	)

Constructor

Creates a FrameVelocity function, values are correctly initialized

Member Function Documentation

dof() [1/2]

const Eigen::Vector6d& mc_tvm::FrameVelocity::dof ( ) const

inlinenoexcept

Get the dof vector

dof() [2/2]

void mc_tvm::FrameVelocity::dof ( const Eigen::Vector6d &  dof )

inlinenoexcept

Set the dof vector

frame()

const mc_rbdyn::RobotFrame& mc_tvm::FrameVelocity::frame ( ) const

inlinenoexcept

Access the related frame

refAccel() [1/2]

const Eigen::Vector6d& mc_tvm::FrameVelocity::refAccel ( ) const

inlinenoexcept

Get the reference acceleration

refAccel() [2/2]

void mc_tvm::FrameVelocity::refAccel ( const Eigen::Vector6d &  refA )

inlinenoexcept

Set the reference acceleration

refVel() [1/2]

const Eigen::Vector6d& mc_tvm::FrameVelocity::refVel ( ) const

inlinenoexcept

Get the reference velocity

refVel() [2/2]

void mc_tvm::FrameVelocity::refVel ( const Eigen::Vector6d &  refV )

inlinenoexcept

Set the reference velocity

reset()

void mc_tvm::FrameVelocity::reset ( )

inline

Empty reset function in case we want to wrap this as a task later

---

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

• include/mc_tvm/FrameVelocity.h