From 113b3d957778be9b910ce6fd38f3789772fef93a Mon Sep 17 00:00:00 2001 From: TimSchneider42 Date: Mon, 27 May 2024 23:15:25 +0000 Subject: [PATCH] deploy: 8872b8410916fcb4275e7de42ba323cddeebddd4 --- classfranky_1_1_robot_velocity-members.html | 2 +- classfranky_1_1_robot_velocity.html | 10 +- classfranky_1_1_twist-members.html | 15 ++- classfranky_1_1_twist.html | 100 ++++++---------- functions_f.html | 3 + functions_func_f.html | 3 + functions_func_m.html | 6 +- functions_func_t.html | 2 +- functions_m.html | 6 +- functions_t.html | 2 +- robot__velocity_8hpp_source.html | 4 +- search/all_10.js | 6 +- search/all_11.js | 76 ++++++------ search/all_12.js | 30 ++--- search/all_13.js | 36 +++--- search/all_14.js | 6 +- search/all_15.js | 10 +- search/all_16.js | 16 +-- search/all_17.js | 2 +- search/all_5.js | 3 +- search/all_6.js | 20 ++-- search/all_7.js | 6 +- search/all_8.js | 24 ++-- search/all_9.js | 28 ++--- search/all_a.js | 12 +- search/all_b.js | 12 +- search/all_c.js | 74 ++++++------ search/all_d.js | 6 +- search/all_e.js | 30 ++--- search/all_f.js | 24 ++-- search/classes_0.js | 2 +- search/classes_1.js | 10 +- search/classes_2.js | 2 +- search/classes_3.js | 4 +- search/classes_4.js | 4 +- search/classes_5.js | 6 +- search/classes_6.js | 6 +- search/classes_7.js | 2 +- search/classes_8.js | 12 +- search/classes_9.js | 2 +- search/classes_a.js | 8 +- search/classes_b.js | 2 +- search/classes_c.js | 12 +- search/classes_d.js | 8 +- search/classes_e.js | 10 +- search/classes_f.js | 10 +- search/defines_0.js | 4 +- search/enums_0.js | 2 +- search/enums_1.js | 2 +- search/enumvalues_0.js | 2 +- search/enumvalues_1.js | 4 +- search/enumvalues_2.js | 4 +- search/enumvalues_3.js | 2 +- search/enumvalues_4.js | 2 +- search/files_0.js | 4 +- search/files_1.js | 20 ++-- search/files_10.js | 2 +- search/files_2.js | 4 +- search/files_3.js | 2 +- search/files_4.js | 4 +- search/files_5.js | 4 +- search/files_6.js | 10 +- search/files_7.js | 4 +- search/files_8.js | 2 +- search/files_9.js | 12 +- search/files_a.js | 2 +- search/files_b.js | 2 +- search/files_c.js | 24 ++-- search/files_d.js | 4 +- search/files_e.js | 8 +- search/files_f.js | 2 +- search/functions_0.js | 16 +-- search/functions_1.js | 28 ++--- search/functions_10.js | 16 +-- search/functions_11.js | 14 +-- search/functions_12.js | 4 +- search/functions_13.js | 4 +- search/functions_14.js | 6 +- search/functions_15.js | 2 +- search/functions_2.js | 12 +- search/functions_3.js | 19 +-- search/functions_4.js | 10 +- search/functions_5.js | 4 +- search/functions_6.js | 18 +-- search/functions_7.js | 12 +- search/functions_8.js | 2 +- search/functions_9.js | 8 +- search/functions_a.js | 24 ++-- search/functions_b.js | 6 +- search/functions_c.js | 30 ++--- search/functions_d.js | 12 +- search/functions_e.js | 2 +- search/functions_f.js | 34 +++--- search/namespaces_0.js | 2 +- search/typedefs_0.js | 2 +- search/typedefs_1.js | 4 +- search/typedefs_2.js | 2 +- search/typedefs_3.js | 2 +- search/typedefs_4.js | 2 +- search/typedefs_5.js | 4 +- search/variables_0.js | 4 +- search/variables_1.js | 4 +- search/variables_2.js | 18 +-- search/variables_3.js | 2 +- search/variables_4.js | 8 +- search/variables_5.js | 4 +- search/variables_6.js | 2 +- search/variables_7.js | 2 +- search/variables_8.js | 2 +- search/variables_9.js | 30 ++--- search/variables_a.js | 2 +- search/variables_b.js | 2 +- search/variables_c.js | 14 +-- search/variables_d.js | 4 +- search/variables_e.js | 8 +- search/variables_f.js | 2 +- twist_8hpp_source.html | 121 ++++++++++---------- 117 files changed, 658 insertions(+), 678 deletions(-) diff --git a/classfranky_1_1_robot_velocity-members.html b/classfranky_1_1_robot_velocity-members.html index 09819411..5f19eabb 100644 --- a/classfranky_1_1_robot_velocity-members.html +++ b/classfranky_1_1_robot_velocity-members.html @@ -80,7 +80,7 @@ end_effector_twist() constfranky::RobotVelocityinline RobotVelocity()franky::RobotVelocity RobotVelocity(const RobotVelocity &robot_velocity)franky::RobotVelocity - RobotVelocity(Twist end_effector_twist, double elbow_velocity=0.0)franky::RobotVelocity + RobotVelocity(const Twist &end_effector_twist, double elbow_velocity=0.0)franky::RobotVelocity RobotVelocity(const Vector7d &vector_repr)franky::RobotVelocityexplicit RobotVelocity(franka::CartesianVelocities franka_velocity)franky::RobotVelocityexplicit transform(const Affine &affine) constfranky::RobotVelocityinline diff --git a/classfranky_1_1_robot_velocity.html b/classfranky_1_1_robot_velocity.html index de6da8c8..620aecb2 100644 --- a/classfranky_1_1_robot_velocity.html +++ b/classfranky_1_1_robot_velocity.html @@ -86,8 +86,8 @@    RobotVelocity (const RobotVelocity &robot_velocity)   - RobotVelocity (Twist end_effector_twist, double elbow_velocity=0.0) -  + RobotVelocity (const Twist &end_effector_twist, double elbow_velocity=0.0) +   RobotVelocity (const Vector7d &vector_repr)    RobotVelocity (franka::CartesianVelocities franka_velocity) @@ -170,8 +170,8 @@

-

◆ RobotVelocity() [3/5]

+ +

◆ RobotVelocity() [3/5]

@@ -179,7 +179,7 @@

franky::RobotVelocity::RobotVelocity ( - Twist  + const Twist &  end_effector_twist, diff --git a/classfranky_1_1_twist-members.html b/classfranky_1_1_twist-members.html index 5ea3c4a9..5073015d 100644 --- a/classfranky_1_1_twist-members.html +++ b/classfranky_1_1_twist-members.html @@ -75,15 +75,14 @@

This is the complete list of members for franky::Twist, including all inherited members.

- - - - - + + + + + - - - + +
angular_velocity() constfranky::Twistinline
linear_velocity() constfranky::Twistinline
propagateThroughLink(const Eigen::Vector3d &link_translation) constfranky::Twistinline
transformWith(const Affine &transformation) constfranky::Twistinline
transformWith(const RotationMatrixType &rotation) constfranky::Twistinline
Twist()franky::Twistinline
fromVectorRepr(const Vector6d &vector_repr)franky::Twistinlinestatic
linear_velocity() constfranky::Twistinline
propagateThroughLink(const Eigen::Vector3d &link_translation) constfranky::Twistinline
transformWith(const Affine &transformation) constfranky::Twistinline
transformWith(const RotationMatrixType &rotation) constfranky::Twistinline
Twist(const Twist &twist)=defaultfranky::Twist
Twist(Eigen::Vector3d linear_velocity, Eigen::Vector3d angular_velocity)franky::Twistinline
Twist(const Vector6d &vector_repr)franky::Twistinlineexplicit
vector_repr() constfranky::Twistinline
Twist(Eigen::Vector3d linear_velocity=Eigen::Vector3d::Zero(), Eigen::Vector3d angular_velocity=Eigen::Vector3d::Zero())franky::Twistinlineexplicit
vector_repr() constfranky::Twistinline

diff --git a/classfranky_1_1_twist.html b/classfranky_1_1_twist.html index c34b5565..9db16e8f 100644 --- a/classfranky_1_1_twist.html +++ b/classfranky_1_1_twist.html @@ -69,6 +69,7 @@
Public Member Functions | +Static Public Member Functions | List of all members
franky::Twist Class Reference
@@ -82,15 +83,10 @@ - - - - - - - + + @@ -110,39 +106,17 @@ +

Public Member Functions

 Twist ()
 Default constructor. Initializes linear and angular velocities to zero. More...
 
 Twist (const Twist &twist)=default
 
 Twist (Eigen::Vector3d linear_velocity, Eigen::Vector3d angular_velocity)
 
 Twist (const Vector6d &vector_repr)
 
 Twist (Eigen::Vector3d linear_velocity=Eigen::Vector3d::Zero(), Eigen::Vector3d angular_velocity=Eigen::Vector3d::Zero())
 
Vector6d vector_repr () const
 Get the vector representation of the twist. It consists of the linear and angular velocities. More...
 
Eigen::Vector3d angular_velocity () const
 Get the angular velocity. More...
 
+ + +

+Static Public Member Functions

static Twist fromVectorRepr (const Vector6d &vector_repr)
 

Detailed Description

Represents the twist of a frame.

Constructor & Destructor Documentation

- -

◆ Twist() [1/4]

- -
-
- - - - - -
- - - - - - - -
franky::Twist::Twist ()
- 		-inline
-
- -

Default constructor. Initializes linear and angular velocities to zero.

- -
-
-

◆ Twist() [2/4]

+

◆ Twist() [1/2]

@@ -167,8 +141,8 @@

-

◆ Twist() [3/4]

+ +

◆ Twist() [2/2]

@@ -180,13 +154,13 @@

franky::Twist::Twist ( Eigen::Vector3d  - linear_velocity, + linear_velocity = Eigen::Vector3d::Zero(), Eigen::Vector3d  - angular_velocity  + angular_velocity = Eigen::Vector3d::Zero()  @@ -196,7 +170,7 @@

-inline +inlineexplicit

@@ -210,8 +184,9 @@

-

◆ Twist() [4/4]

+

Member Function Documentation

+ +

◆ angular_velocity()

@@ -220,31 +195,26 @@

- + - - - + +
franky::Twist::Twist Eigen::Vector3d franky::Twist::angular_velocity (const Vector6d & vector_repr)) const
-inlineexplicit +inline

-
Parameters
- - -
vector_reprThe vector representation of the twist.
-
-
+ +

Get the angular velocity.

+
Returns
The angular velocity.
-

Member Function Documentation

- -

◆ angular_velocity()

+ +

◆ fromVectorRepr()

@@ -253,21 +223,25 @@

- + - - + + +
Eigen::Vector3d franky::Twist::angular_velocity static Twist franky::Twist::fromVectorRepr () constconst Vector6d & vector_repr)
-inline +inlinestatic

- -

Get the angular velocity.

-
Returns
The angular velocity.
+
Parameters
+ + +
vector_reprThe vector representation of the twist.
+
+
diff --git a/functions_f.html b/functions_f.html index 81bfd66f..b9d137fe 100644 --- a/functions_f.html +++ b/functions_f.html @@ -105,6 +105,9 @@

- f -

diff --git a/functions_func_f.html b/functions_func_f.html index 317cdb73..c16aa00f 100644 --- a/functions_func_f.html +++ b/functions_func_f.html @@ -93,6 +93,9 @@

- f -

diff --git a/functions_func_m.html b/functions_func_m.html index e04bbf04..7941834d 100644 --- a/functions_func_m.html +++ b/functions_func_m.html @@ -78,12 +78,12 @@

- m -

diff --git a/functions_m.html b/functions_m.html index 4c32826c..3ab68c42 100644 --- a/functions_m.html +++ b/functions_m.html @@ -78,12 +78,12 @@

- m -

diff --git a/robot__velocity_8hpp_source.html b/robot__velocity_8hpp_source.html index 30980b75..b2a6ca43 100644 --- a/robot__velocity_8hpp_source.html +++ b/robot__velocity_8hpp_source.html @@ -91,7 +91,7 @@
24  // Suppress implicit conversion warning
25 #pragma clang diagnostic push
26 #pragma clang diagnostic ignored "-Wimplicit-conversion"
-
31  RobotVelocity(Twist end_effector_twist, double elbow_velocity = 0.0);
+
31  RobotVelocity(const Twist &end_effector_twist, double elbow_velocity = 0.0);
32 #pragma clang diagnostic pop
33 
37  explicit RobotVelocity(const Vector7d &vector_repr);
@@ -149,7 +149,7 @@
franky::RobotVelocity::elbow_velocity
std::optional< double > elbow_velocity() const
Get the elbow velocity.
Definition: robot_velocity.hpp:105
franky::Twist
Represents the twist of a frame.
Definition: twist.hpp:12
-
franky::Twist::propagateThroughLink
Twist propagateThroughLink(const Eigen::Vector3d &link_translation) const
Propagate the twist through a link with the given translation. Hence, suppose this twist is the twist...
Definition: twist.hpp:74
+
franky::Twist::propagateThroughLink
Twist propagateThroughLink(const Eigen::Vector3d &link_translation) const
Propagate the twist through a link with the given translation. Hence, suppose this twist is the twist...
Definition: twist.hpp:71
franky
Definition: gripper.cpp:3
franky::operator*
CartesianState operator*(const Affine &transform, const CartesianState &cartesian_state)
Definition: cartesian_state.hpp:48
franky::Vector7d
Eigen::Vector< double, 7 > Vector7d
Definition: types.hpp:9
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8 
12 class Twist {
13  public:
-
17  Twist() : linear_velocity_(Eigen::Vector3d::Zero()), angular_velocity_(Eigen::Vector3d::Zero()) {}
-
18 
-
19  Twist(const Twist &twist) = default;
-
20 
-
25  Twist(Eigen::Vector3d linear_velocity, Eigen::Vector3d angular_velocity)
-
26  : linear_velocity_(std::move(linear_velocity)), angular_velocity_(std::move(angular_velocity)) {}
-
27 
-
31  explicit Twist(const Vector6d &vector_repr)
-
32  : linear_velocity_(vector_repr.head<3>()), angular_velocity_(vector_repr.tail<3>()) {}
-
33 
-
39  [[nodiscard]] inline Vector6d vector_repr() const {
-
40  Vector6d result;
-
41  result << linear_velocity_, angular_velocity_;
-
42  return result;
-
43  }
-
44 
-
51  [[nodiscard]] inline Twist transformWith(const Affine &transformation) const {
-
52  return transformWith(transformation.rotation());
-
53  }
-
54 
-
61  template<typename RotationMatrixType>
-
62  [[nodiscard]] inline Twist transformWith(const RotationMatrixType &rotation) const {
-
63  return {rotation * linear_velocity_, rotation * angular_velocity_};
-
64  }
-
65 
-
74  [[nodiscard]] inline Twist propagateThroughLink(const Eigen::Vector3d &link_translation) const {
-
75  return {linear_velocity_ + angular_velocity_.cross(link_translation), angular_velocity_};
-
76  }
-
77 
-
83  [[nodiscard]] inline Eigen::Vector3d linear_velocity() const {
-
84  return linear_velocity_;
-
85  }
-
86 
-
92  [[nodiscard]] inline Eigen::Vector3d angular_velocity() const {
-
93  return angular_velocity_;
-
94  }
-
95 
-
96  private:
-
97  Eigen::Vector3d linear_velocity_;
-
98  Eigen::Vector3d angular_velocity_;
-
99 };
-
100 
-
101 inline Twist operator*(const Affine &affine, const Twist &twist) {
-
102  return twist.transformWith(affine);
-
103 }
-
104 
-
105 template<typename RotationMatrixType>
-
106 inline Twist operator*(const RotationMatrixType &rotation, const Twist &twist) {
-
107  return twist.transformWith(rotation);
-
108 }
-
109 
-
110 } // namespace franky
+
14  Twist(const Twist &twist) = default;
+
15 
+
20  explicit Twist(Eigen::Vector3d linear_velocity = Eigen::Vector3d::Zero(),
+
21  Eigen::Vector3d angular_velocity = Eigen::Vector3d::Zero())
+
22  : linear_velocity_(std::move(linear_velocity)), angular_velocity_(std::move(angular_velocity)) {}
+
23 
+
27  [[nodiscard]] static inline Twist fromVectorRepr(const Vector6d &vector_repr) {
+
28  return Twist{vector_repr.head<3>(), vector_repr.tail<3>()};
+
29  }
+
30 
+
36  [[nodiscard]] inline Vector6d vector_repr() const {
+
37  Vector6d result;
+
38  result << linear_velocity_, angular_velocity_;
+
39  return result;
+
40  }
+
41 
+
48  [[nodiscard]] inline Twist transformWith(const Affine &transformation) const {
+
49  return transformWith(transformation.rotation());
+
50  }
+
51 
+
58  template<typename RotationMatrixType>
+
59  [[nodiscard]] inline Twist transformWith(const RotationMatrixType &rotation) const {
+
60  return Twist{rotation * linear_velocity_, rotation * angular_velocity_};
+
61  }
+
62 
+
71  [[nodiscard]] inline Twist propagateThroughLink(const Eigen::Vector3d &link_translation) const {
+
72  return Twist{linear_velocity_ + angular_velocity_.cross(link_translation), angular_velocity_};
+
73  }
+
74 
+
80  [[nodiscard]] inline Eigen::Vector3d linear_velocity() const {
+
81  return linear_velocity_;
+
82  }
+
83 
+
89  [[nodiscard]] inline Eigen::Vector3d angular_velocity() const {
+
90  return angular_velocity_;
+
91  }
+
92 
+
93  private:
+
94  Eigen::Vector3d linear_velocity_;
+
95  Eigen::Vector3d angular_velocity_;
+
96 };
+
97 
+
98 inline Twist operator*(const Affine &affine, const Twist &twist) {
+
99  return twist.transformWith(affine);
+
100 }
+
101 
+
102 template<typename RotationMatrixType>
+
103 inline Twist operator*(const RotationMatrixType &rotation, const Twist &twist) {
+
104  return twist.transformWith(rotation);
+
105 }
+
106 
+
107 } // namespace franky
franky::Twist
Represents the twist of a frame.
Definition: twist.hpp:12
-
franky::Twist::vector_repr
Vector6d vector_repr() const
Get the vector representation of the twist. It consists of the linear and angular velocities.
Definition: twist.hpp:39
-
franky::Twist::transformWith
Twist transformWith(const Affine &transformation) const
Transform the frame of the twist by applying the given affine transform.
Definition: twist.hpp:51
-
franky::Twist::Twist
Twist(Eigen::Vector3d linear_velocity, Eigen::Vector3d angular_velocity)
Definition: twist.hpp:25
-
franky::Twist::linear_velocity
Eigen::Vector3d linear_velocity() const
Get the linear velocity.
Definition: twist.hpp:83
-
franky::Twist::Twist
Twist()
Default constructor. Initializes linear and angular velocities to zero.
Definition: twist.hpp:17
-
franky::Twist::transformWith
Twist transformWith(const RotationMatrixType &rotation) const
Transform the frame of the twist by applying the given rotation.
Definition: twist.hpp:62
-
franky::Twist::propagateThroughLink
Twist propagateThroughLink(const Eigen::Vector3d &link_translation) const
Propagate the twist through a link with the given translation. Hence, suppose this twist is the twist...
Definition: twist.hpp:74
-
franky::Twist::Twist
Twist(const Vector6d &vector_repr)
Definition: twist.hpp:31
+
franky::Twist::vector_repr
Vector6d vector_repr() const
Get the vector representation of the twist. It consists of the linear and angular velocities.
Definition: twist.hpp:36
+
franky::Twist::fromVectorRepr
static Twist fromVectorRepr(const Vector6d &vector_repr)
Definition: twist.hpp:27
+
franky::Twist::transformWith
Twist transformWith(const Affine &transformation) const
Transform the frame of the twist by applying the given affine transform.
Definition: twist.hpp:48
+
franky::Twist::linear_velocity
Eigen::Vector3d linear_velocity() const
Get the linear velocity.
Definition: twist.hpp:80
+
franky::Twist::transformWith
Twist transformWith(const RotationMatrixType &rotation) const
Transform the frame of the twist by applying the given rotation.
Definition: twist.hpp:59
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franky::Twist::propagateThroughLink
Twist propagateThroughLink(const Eigen::Vector3d &link_translation) const
Propagate the twist through a link with the given translation. Hence, suppose this twist is the twist...
Definition: twist.hpp:71
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franky::Twist::Twist
Twist(Eigen::Vector3d linear_velocity=Eigen::Vector3d::Zero(), Eigen::Vector3d angular_velocity=Eigen::Vector3d::Zero())
Definition: twist.hpp:20
franky::Twist::Twist
Twist(const Twist &twist)=default
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franky::Twist::angular_velocity
Eigen::Vector3d angular_velocity() const
Get the angular velocity.
Definition: twist.hpp:92
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franky::Twist::angular_velocity
Eigen::Vector3d angular_velocity() const
Get the angular velocity.
Definition: twist.hpp:89
franky
Definition: gripper.cpp:3
franky::operator*
CartesianState operator*(const Affine &transform, const CartesianState &cartesian_state)
Definition: cartesian_state.hpp:48
franky::Vector6d
Eigen::Vector< double, 6 > Vector6d
Definition: types.hpp:8