dynkin::Transform struct
#include <dynkin/dynkin.hpp>

Representing a transform between two Frames

Contents

Public functions

auto apply_vector(const Eigen::Vector3d& vector) -> Eigen::Vector3d
Apply this transformation to a vector.
auto apply_position(const Eigen::Vector3d& position) -> Eigen::Vector3d
Apply this transformation to a position vector.
auto apply_wrench(const Eigen::Vector6d& wrench) -> Eigen::Vector6d
Apply this transformation to a wrench.
auto inverse() -> Transform
Create a Transform which is the inverse of this.

Function documentation

Eigen::Vector3d dynkin::Transform::apply_vector(const Eigen::Vector3d& vector)

Apply this transformation to a vector.

Parameters
vector Vector to be transformed
Returns Transformed vector

Eigen::Vector3d dynkin::Transform::apply_position(const Eigen::Vector3d& position)

Apply this transformation to a position vector.

Parameters
position Position vector to be transformed
Returns Transformed position vector

Eigen::Vector6d dynkin::Transform::apply_wrench(const Eigen::Vector6d& wrench)

Apply this transformation to a wrench.

Parameters
wrench Wrench to be transformed
Returns Transformed wrench

Transform dynkin::Transform::inverse()

Create a Transform which is the inverse of this.

Returns Inverted transform