CjrlRigidAcceleration Class Reference

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

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

Public Member Functions

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

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

Constructor.

Member Function Documentation

◆ linearAcceleration() [1/2]

const vector3d& CjrlRigidAcceleration::linearAcceleration ( ) const
inline

Get the linear acceleration vector.

◆ linearAcceleration() [2/2]

void CjrlRigidAcceleration::linearAcceleration ( const vector3d inLinearAcceleration)
inline

Set the linear acceleration vector.

◆ rotationAcceleration() [1/2]

const vector3d& CjrlRigidAcceleration::rotationAcceleration ( ) const
inline

Get the rotation acceleration vector.

◆ rotationAcceleration() [2/2]

void CjrlRigidAcceleration::rotationAcceleration ( const vector3d inRotationAcceleration)
inline

Set the rotation acceleration vector.