Package org.robwork.sdurw_math

Class VelocityScrew6D

  • public class VelocityScrew6D
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.

    • Constructor Detail

      • VelocityScrew6D

        public VelocityScrew6D​(long cPtr,
                       boolean cMemoryOwn)

      • VelocityScrew6D

        public VelocityScrew6D​(double vx,
                       double vy,
                       double vz,
                       double wx,
                       double wy,
                       double wz)
        Constructs a 6 degrees of freedom velocity screw

        Parameters:
        vx - [in] v_x
        vy - [in] v_y
        vz - [in] v_z
        wx - [in] \omega_x
        wy - [in] \omega_y
        wz - [in] \omega_z

      • VelocityScrew6D

        public VelocityScrew6D()
        Default Constructor. Initialized the velocity to 0

      • VelocityScrew6D

        public VelocityScrew6D​(VelocityScrew6D vs)
        Copy Constructor
        Parameters:
        vs - [in] the velocityscrew6D to copy

      • VelocityScrew6D

        public VelocityScrew6D​(Transform3D transform)
        Constructs a velocity screw in frame a from a
        transform \robabx{a}{b}{\mathbf{T}} .

        Parameters:
        transform - [in] the corresponding transform.

      • VelocityScrew6D

        public VelocityScrew6D​(Vector3D linear,
                       EAA angular)
        Constructs a velocity screw from a linear and angular velocity

        Parameters:
        linear - [in] linear velocity
        angular - [in] angular velocity

    • Method Detail

      • delete

        public void delete()

      • linear

        public Vector3D linear()
        Extracts the linear velocity

        Returns:
        the linear velocity

      • angular

        public EAA angular()
        Extracts the angular velocity and represents it using an
        equivalent-angle-axis as \dot{\Theta}\mathbf{k}

        Returns:
        the angular velocity

      • size

        public long size()
        get the size of the underlying vector

      • get

        public double get​(long i)

      • set

        public void set​(long i,
                double d)

      • addAssign

        public VelocityScrew6D addAssign​(VelocityScrew6D screw)
        Adds the velocity screw given as a parameter to the velocity screw.

        Parameters:
        screw - [in] Velocity screw to add

        Returns:
        reference to the VelocityScrew6D to support additional
        assignments.

      • subtractAssign

        public VelocityScrew6D subtractAssign​(VelocityScrew6D screw)
        Subtracts the velocity screw given as a parameter from the
        velocity screw.

        Parameters:
        screw - [in] Velocity screw to subtract

        Returns:
        reference to the VelocityScrew6D to support additional
        assignments.

      • multiplyAssign

        public VelocityScrew6D multiplyAssign​(double s)
        Scales velocity screw with s

        Parameters:
        s - [in] scaling value

        Returns:
        reference to the VelocityScrew6D to support additional
        assigments

      • equals

        public boolean equals​(VelocityScrew6D 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.

      • notEqual

        public boolean notEqual​(VelocityScrew6D rhs)
        Comparison operator.

        The comparison operator makes a element wise comparison.
        Returns true if any of the elements are different.

        Parameters:
        rhs - [in] VelocityScrew6D to compare with
        Returns:
        True if not equal.

      • multiply

        public VelocityScrew6D multiply​(double s)
        Scales velocity screw and returns scaled version
        Parameters:
        s - [in] scaling value
        Returns:
        Scales screw

      • add

        public VelocityScrew6D add​(VelocityScrew6D screw2)
        Adds two velocity screws together \mathbf{\nu}_{12}=\mathbf{\nu}_1+\mathbf{\nu}_2

        Parameters:
        screw2 - [in] \mathbf{\nu}_2

        Returns:
        the velocity screw \mathbf{\nu}_{12}

      • subtract

        public VelocityScrew6D subtract​(VelocityScrew6D screw2)
        Subtracts two velocity screws
        \mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2

        Parameters:
        screw2 - [in] \mathbf{\nu}_2
        Returns:
        the velocity screw \mathbf{\nu}_{12}

      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object

      • 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

      • 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

      • 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