Class VelocityScrew6Df


  • public class VelocityScrew6Df
    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

      • VelocityScrew6Df

        public VelocityScrew6Df​(long cPtr,
                                boolean cMemoryOwn)
      • VelocityScrew6Df

        public VelocityScrew6Df​(float vx,
                                float vy,
                                float vz,
                                float wx,
                                float wy,
                                float 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
      • VelocityScrew6Df

        public VelocityScrew6Df()
        Default Constructor. Initialized the velocity to 0
      • VelocityScrew6Df

        public VelocityScrew6Df​(VelocityScrew6Df vs)
        Copy Constructor
        Parameters:
        vs - [in] the velocityscrew6D to copy
      • VelocityScrew6Df

        public VelocityScrew6Df​(Transform3Df transform)
        Constructs a velocity screw in frame a from a
        transform \robabx{a}{b}{\mathbf{T}} .

        Parameters:
        transform - [in] the corresponding transform.
      • VelocityScrew6Df

        public VelocityScrew6Df​(Vector3Df linear,
                                EAAf 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 Vector3Df linear()
        Extracts the linear velocity

        Returns:
        the linear velocity
      • angular

        public EAAf 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 float get​(long i)
      • set

        public void set​(long i,
                        float d)
      • addAssign

        public VelocityScrew6Df addAssign​(VelocityScrew6Df 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 VelocityScrew6Df subtractAssign​(VelocityScrew6Df 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 VelocityScrew6Df multiplyAssign​(float s)
        Scales velocity screw with s

        Parameters:
        s - [in] scaling value

        Returns:
        reference to the VelocityScrew6D to support additional
        assigments
      • equals

        public boolean equals​(VelocityScrew6Df 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​(VelocityScrew6Df 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 VelocityScrew6Df multiply​(float s)
        Scales velocity screw and returns scaled version
        Parameters:
        s - [in] scaling value
        Returns:
        Scales screw
      • add

        public VelocityScrew6Df add​(VelocityScrew6Df 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 VelocityScrew6Df subtract​(VelocityScrew6Df 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 float 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 float 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 float normInf()
        Takes the infinite norm of the velocity screw. All elements
        both angular and linear are given the same weight.

        Returns:
        the infinite norm