Package org.robwork.sdurw
Class VelocityScrew6Df
- java.lang.Object
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- org.robwork.sdurw.VelocityScrew6Df
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public class VelocityScrew6Df extends java.lang.Object
Class for representing 6 degrees of freedom velocity screws.
\mathbf{\nu} = \left[ \begin{array}{c} v_x\\ v_y\\ v_z\\ \omega_x\\ \omega_y\\ \omega_z \end{array} \right]
A VelocityScrew is the description of a frames linear and rotational velocity
with respect to some reference frame.
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Constructor Summary
Constructors Constructor Description VelocityScrew6Df()
Default Constructor.VelocityScrew6Df(float vx, float vy, float vz, float wx, float wy, float wz)
Constructs a 6 degrees of freedom velocity screw
VelocityScrew6Df(long cPtr, boolean cMemoryOwn)
VelocityScrew6Df(Transform3Df t3d)
Constructs a velocity screw in frame a from a
transform \robabx{a}{b}{\mathbf{T}} .
VelocityScrew6Df(Vector3Df linear, EAAf angular)
Constructs a velocity screw from a linear and angular velocity
VelocityScrew6Df(VelocityScrew6Df p6d)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description VelocityScrew6Df
add(VelocityScrew6Df other)
Adds two velocity screws together \mathbf{\nu}_{12}=\mathbf{\nu}_1+\mathbf{\nu}_2
EAAf
angular()
Extracts the angular velocity and represents it using an
equivalent-angle-axis as \dot{\Theta}\mathbf{k}
void
delete()
EigenVector6f
e()
Converter to Eigen vectorboolean
equals(VelocityScrew6Df rhs)
Comparison operator.
The comparison operator makes a element wise comparison.
Returns true only if all elements are equal.
float
get(long i)
static long
getCPtr(VelocityScrew6Df obj)
Vector3Df
linear()
Extracts the linear velocity
VelocityScrew6Df
multiply(float scale)
Scales velocity screw and returns scaled version
double
norm1()
Takes the 1-norm of the velocity screw.double
norm2()
Takes the 2-norm of the velocity screw.double
normInf()
Takes the infinite norm of the velocity screw.void
set(long i, float d)
VelocityScrew6Df
subtract(VelocityScrew6Df other)
Subtracts two velocity screws
\mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2
java.lang.String
toString()
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Constructor Detail
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VelocityScrew6Df
public VelocityScrew6Df(long cPtr, boolean cMemoryOwn)
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VelocityScrew6Df
public VelocityScrew6Df(float vx, float vy, float vz, float wx, float wy, float wz)
Constructs a 6 degrees of freedom velocity screw
- Parameters:
vx
- [in] v_xvy
- [in] v_yvz
- [in] v_zwx
- [in] \omega_xwy
- [in] \omega_ywz
- [in] \omega_z
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VelocityScrew6Df
public VelocityScrew6Df()
Default Constructor. Initialized the velocity to 0
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VelocityScrew6Df
public VelocityScrew6Df(VelocityScrew6Df p6d)
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VelocityScrew6Df
public VelocityScrew6Df(Transform3Df t3d)
Constructs a velocity screw in frame a from a
transform \robabx{a}{b}{\mathbf{T}} .
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Method Detail
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getCPtr
public static long getCPtr(VelocityScrew6Df obj)
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delete
public void delete()
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linear
public Vector3Df linear()
Extracts the linear velocity
- Returns:
- the linear velocity
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angular
public EAAf angular()
Extracts the angular velocity and represents it using an
equivalent-angle-axis as \dot{\Theta}\mathbf{k}
- Returns:
- the angular velocity
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equals
public boolean equals(VelocityScrew6Df rhs)
Comparison operator.
The comparison operator makes a element wise comparison.
Returns true only if all elements are equal.
- Parameters:
rhs
- [in] VelocityScrew6D to compare with- Returns:
- True if equal.
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multiply
public VelocityScrew6Df multiply(float scale)
Scales velocity screw and returns scaled version
- Returns:
- Scales screw
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add
public VelocityScrew6Df add(VelocityScrew6Df other)
Adds two velocity screws together \mathbf{\nu}_{12}=\mathbf{\nu}_1+\mathbf{\nu}_2
- Returns:
- the velocity screw \mathbf{\nu}_{12}
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subtract
public VelocityScrew6Df subtract(VelocityScrew6Df other)
Subtracts two velocity screws
\mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2
- Returns:
- the velocity screw \mathbf{\nu}_{12}
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norm1
public double norm1()
Takes the 1-norm of the velocity screw. All elements both
angular and linear are given the same weight.
- Returns:
- the 1-norm
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norm2
public double norm2()
Takes the 2-norm of the velocity screw. All elements both
angular and linear are given the same weight
- Returns:
- the 2-norm
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normInf
public double normInf()
Takes the infinite norm of the velocity screw. All elements
both angular and linear are given the same weight.
- Returns:
- the infinite norm
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e
public EigenVector6f e()
Converter to Eigen vector
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public float get(long i)
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set
public void set(long i, float d)
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