Detailed Description

Wraps the raw data contained in a trajectory expressed in terms of pose and velocity values.

Represents a translational and rotational transformation of a reference frame A with respect to world frame W, expressed in x-y-z coordinates, and translational and rotational velocities of frame A with respect to W.

#include <src/systems/trajectory.h>

Public Member Functions
	PoseVelocity ()
	Default constructor. More...

	PoseVelocity (const Eigen::Quaternion< double > &rotation, const Eigen::Vector3d &translation, const drake::multibody::SpatialVelocity< double > &velocity)
	Fully-parameterized constructor. More...

const Eigen::Vector3d &	translation () const
	Accesses p_WA, the translation component of the pose of A, expressed in world-frame coordinates W. More...

const Eigen::Quaternion< double > &	rotation () const
	Accesses R_WA, the rotation component of the pose of A, expressed in world-frame coordinates W. More...

Eigen::Vector3d	pose3 () const
	Accesses the projection of the pose of frame A to the x-y components of translation and the z-component of rotation. More...

const drake::multibody::SpatialVelocity< double > &	velocity () const
	Accesses Xdot_WA, a SpatialVelocity of frame A, expressed in world-frame coordinates W. More...

double	speed () const
	Gets the speed ‖pdot_WA‖₂, the 2-norm of the world-frame translational velocities. More...

Constructor & Destructor Documentation

◆ PoseVelocity() [1/2]

PoseVelocity ( )

Default constructor.

Sets rotation to an identity transform and all translation and velocity components to zero.

◆ PoseVelocity() [2/2]

PoseVelocity	(	const Eigen::Quaternion< double > &	rotation,
		const Eigen::Vector3d &	translation,
		const drake::multibody::SpatialVelocity< double > &	velocity
	)

Fully-parameterized constructor.

Parameters

rotation	the orientation R_WA of frame A with respect to the world frame W, and can be either normalized or unnormalized.
translation	the x, y, z position p_WA of frame A measured from W's origin.
velocity	the (rotational/translational) spatial velocity Xdot_WA of the frame A with respect to frame W.

Member Function Documentation

◆ pose3()

Eigen::Vector3d pose3 ( ) const

Accesses the projection of the pose of frame A to the x-y components of translation and the z-component of rotation.

◆ rotation()

const Eigen::Quaternion<double>& rotation ( ) const

Accesses R_WA, the rotation component of the pose of A, expressed in world-frame coordinates W.

◆ speed()

double speed ( ) const

Gets the speed ‖pdot_WA‖₂, the 2-norm of the world-frame translational velocities.

◆ translation()

const Eigen::Vector3d& translation ( ) const

Accesses p_WA, the translation component of the pose of A, expressed in world-frame coordinates W.

◆ velocity()

const drake::multibody::SpatialVelocity<double>& velocity ( ) const

Accesses Xdot_WA, a SpatialVelocity of frame A, expressed in world-frame coordinates W.

The documentation for this class was generated from the following files: