CjrlRigidAcceleration Class Reference

This class represents the acceleration of a rigid body. More...

#include <abstract-robot-dynamics/rigid-acceleration.hh>

List of all members.

Public Member Functions

 CjrlRigidAcceleration (const vector3d &inLinearAcceleration, const vector3d &inRotationAcceleration)
 Constructor.
const vector3dlinearAcceleration () const
 Get the linear acceleration vector.
void linearAcceleration (const vector3d &inLinearAcceleration)
 Set the linear acceleration vector.
const vector3drotationAcceleration () const
 Get the rotation acceleration vector.
void rotationAcceleration (const vector3d &inRotationAcceleration)
 Set the rotation acceleration vector.

Detailed Description

This class represents the acceleration of a rigid body.

The acceleration is represented by

  • a linear acceleration vector ${\bf \dot{v}}$ (time derivative of the linear velocity vector) and
  • a rotation acceleration vector ${\bf \dot{\omega}}$ (the time derivative of the rotation velocity vector).

Constructor & Destructor Documentation

CjrlRigidAcceleration::CjrlRigidAcceleration ( const vector3d inLinearAcceleration,
const vector3d inRotationAcceleration 
) [inline]

Constructor.


Member Function Documentation

const vector3d& CjrlRigidAcceleration::linearAcceleration ( ) const [inline]

Get the linear acceleration vector.

void CjrlRigidAcceleration::linearAcceleration ( const vector3d inLinearAcceleration) [inline]

Set the linear acceleration vector.

const vector3d& CjrlRigidAcceleration::rotationAcceleration ( ) const [inline]

Get the rotation acceleration vector.

void CjrlRigidAcceleration::rotationAcceleration ( const vector3d inRotationAcceleration) [inline]

Set the rotation acceleration vector.