Package org.robwork.sdurw

Class VelocityScrew6Dd

java.lang.Object

org.robwork.sdurw.VelocityScrew6Dd

public class VelocityScrew6Dd
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 Summary

Constructors

Constructor	Description
VelocityScrew6Dd()	Default Constructor.
VelocityScrew6Dd(double vx, double vy, double vz, double wx, double wy, double wz)	Constructs a 6 degrees of freedom velocity screw
VelocityScrew6Dd(long cPtr, boolean cMemoryOwn)
VelocityScrew6Dd(Transform3Dd t3d)	Constructs a velocity screw in frame a from a transform \robabx{a}{b}{\mathbf{T}} .
VelocityScrew6Dd(Vector3Dd linear, EAAd angular)	Constructs a velocity screw from a linear and angular velocity
VelocityScrew6Dd(VelocityScrew6Dd p6d)

Method Summary

Modifier and Type	Method	Description
VelocityScrew6Dd	add(VelocityScrew6Dd other)	Adds two velocity screws together \mathbf{\nu}_{12}=\mathbf{\nu}_1+\mathbf{\nu}_2
EAAd	angular()	Extracts the angular velocity and represents it using an equivalent-angle-axis as \dot{\Theta}\mathbf{k}
void	delete()
EigenVector6d	e()	Converter to Eigen vector
boolean	equals(VelocityScrew6Dd rhs)	Comparison operator. The comparison operator makes a element wise comparison. Returns true only if all elements are equal.
double	get(long i)
static long	getCPtr(VelocityScrew6Dd obj)
Vector3Dd	linear()	Extracts the linear velocity
VelocityScrew6Dd	multiply(double 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, double d)
VelocityScrew6Dd	subtract(VelocityScrew6Dd other)	Subtracts two velocity screws \mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

VelocityScrew6Dd

public VelocityScrew6Dd(long cPtr,
                        boolean cMemoryOwn)

VelocityScrew6Dd

public VelocityScrew6Dd(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

VelocityScrew6Dd

public VelocityScrew6Dd()

Default Constructor. Initialized the velocity to 0

VelocityScrew6Dd

public VelocityScrew6Dd(VelocityScrew6Dd p6d)

VelocityScrew6Dd

public VelocityScrew6Dd(Transform3Dd t3d)

Constructs a velocity screw in frame a from a
transform \robabx{a}{b}{\mathbf{T}} .

VelocityScrew6Dd

public VelocityScrew6Dd(Vector3Dd linear,
                        EAAd angular)

Constructs a velocity screw from a linear and angular velocity

Parameters:

linear - [in] linear velocity

angular - [in] angular velocity

Method Detail

getCPtr

public static long getCPtr(VelocityScrew6Dd obj)

delete

public void delete()

linear

public Vector3Dd linear()

Extracts the linear velocity

Returns:

the linear velocity

angular

public EAAd angular()

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

Returns:

the angular velocity

equals

public boolean equals(VelocityScrew6Dd 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.

multiply

public VelocityScrew6Dd multiply(double scale)

Scales velocity screw and returns scaled version

Returns:

Scales screw

add

public VelocityScrew6Dd add(VelocityScrew6Dd other)

Adds two velocity screws together \mathbf{\nu}_{12}=\mathbf{\nu}_1+\mathbf{\nu}_2

Returns:

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

subtract

public VelocityScrew6Dd subtract(VelocityScrew6Dd other)

Subtracts two velocity screws
\mathbf{\nu}_{12}=\mathbf{\nu}_1-\mathbf{\nu}_2

Returns:

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

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

e

public EigenVector6d e()

Converter to Eigen vector

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public double get(long i)

set

public void set(long i,
                double d)