CjrlRigidVelocity Class Reference

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

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

List of all members.

Public Member Functions

 CjrlRigidVelocity ()
 Constructor.
 CjrlRigidVelocity (const vector3d &inLinearVelocity, const vector3d &inRotationVelocity)
 Constructor.
const vector3dlinearVelocity () const
 Get the linear velocity vector.
void linearVelocity (const vector3d &inLinearVelocity)
 Set the linear velocity vector.
const vector3drotationVelocity () const
 Get the rotation velocity vector.
void rotationVelocity (const vector3d &inRotationVelocity)
 Set the rotation velocity vector.

Detailed Description

This class represents the velocity of a rigid body.

The velocity is represented by

  • a linear velocity vector ${\bf v}$ and
  • a rotation velocity vector ${\bf \omega}$.

Constructor & Destructor Documentation

CjrlRigidVelocity::CjrlRigidVelocity ( ) [inline]

Constructor.

CjrlRigidVelocity::CjrlRigidVelocity ( const vector3d inLinearVelocity,
const vector3d inRotationVelocity 
) [inline]

Constructor.


Member Function Documentation

const vector3d& CjrlRigidVelocity::linearVelocity ( ) const [inline]

Get the linear velocity vector.

void CjrlRigidVelocity::linearVelocity ( const vector3d inLinearVelocity) [inline]

Set the linear velocity vector.

const vector3d& CjrlRigidVelocity::rotationVelocity ( ) const [inline]

Get the rotation velocity vector.

void CjrlRigidVelocity::rotationVelocity ( const vector3d inRotationVelocity) [inline]

Set the rotation velocity vector.