CjrlRigidVelocity Class Reference

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

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

Public Member Functions

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

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() [1/2]

CjrlRigidVelocity::CjrlRigidVelocity ( )
inline

Constructor.

◆ CjrlRigidVelocity() [2/2]

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

Constructor.

Member Function Documentation

◆ linearVelocity() [1/2]

const vector3d& CjrlRigidVelocity::linearVelocity ( ) const
inline

Get the linear velocity vector.

◆ linearVelocity() [2/2]

void CjrlRigidVelocity::linearVelocity ( const vector3d inLinearVelocity)
inline

Set the linear velocity vector.

◆ rotationVelocity() [1/2]

const vector3d& CjrlRigidVelocity::rotationVelocity ( ) const
inline

Get the rotation velocity vector.

◆ rotationVelocity() [2/2]

void CjrlRigidVelocity::rotationVelocity ( const vector3d inRotationVelocity)
inline

Set the rotation velocity vector.