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

Representing a coordinate frame.

Contents

Public functions

auto create_child() -> Frame
Create a new Frame with this Frame as parent.
auto position() -> auto
Position of this Frame in relation to parent Frame.
auto rotation() -> auto
Rotation of this Frame in relation to parent Frame.
auto linear_velocity() -> Eigen::Vector3d&
Linear velocity of this Frame in relation to parent Frame, decomposed in this Frame.
auto angular_velocity() -> Eigen::Vector3d&
Angular velocity of this Frame in relation to parent Frame, decomposed in this Frame.
auto get_attitude() -> Eigen::Vector3d
Get attitude of this Frame in relation to parent Frame.
void set_attitude(const Eigen::Vector3d& attitude)
Set attitude of this Frame in relation to parent Frame.
auto get_pose() -> Eigen::Vector6d
Get pose of this Frame in relation to the inertial Frame.
auto get_twist() -> Eigen::Vector6d
Get twist of this Frame in relation to the inertial Frame.

Function documentation

Frame dynkin::_Frame::create_child()

Create a new Frame with this Frame as parent.

Returns Child Frame

auto dynkin::_Frame::position()

Position of this Frame in relation to parent Frame.

Returns Position (3x1)

auto dynkin::_Frame::rotation()

Rotation of this Frame in relation to parent Frame.

Returns Rotation matrix 3x3

Eigen::Vector3d& dynkin::_Frame::linear_velocity()

Linear velocity of this Frame in relation to parent Frame, decomposed in this Frame.

Returns Linear velocity (3x1)

Eigen::Vector3d& dynkin::_Frame::angular_velocity()

Angular velocity of this Frame in relation to parent Frame, decomposed in this Frame.

Returns Angular velocity (3x1)

Eigen::Vector3d dynkin::_Frame::get_attitude()

Get attitude of this Frame in relation to parent Frame.

Returns Attitude (euler angles)(3x1)

void dynkin::_Frame::set_attitude(const Eigen::Vector3d& attitude)

Set attitude of this Frame in relation to parent Frame.

Parameters
attitude Attitude (euler angles)(3x1)

Eigen::Vector6d dynkin::_Frame::get_pose()

Get pose of this Frame in relation to the inertial Frame.

Returns Pose (6x1)

Eigen::Vector6d dynkin::_Frame::get_twist()

Get twist of this Frame in relation to the inertial Frame.

Returns Twist (6x1)