Gazebo Physics

API Reference

5.3.2
gz/physics/FrameData.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_PHYSICS_FRAMEDATA_HH_
19 #define GZ_PHYSICS_FRAMEDATA_HH_
20 
21 #include <gz/physics/Geometry.hh>
22 
23 namespace ignition
24 {
25  namespace physics
26  {
27 
41  template <typename Scalar, std::size_t Dim>
42  struct FrameData
43  {
47 
50  public: FrameData();
51 
53  public: Pose pose;
54 
57 
60 
63 
66 
69  public: void SetToZero();
70  };
72 
73  template <typename Scalar, std::size_t Dim>
75  const FrameData<Scalar, Dim> &_frame)
76  {
77  stream
78  << "Pose:\n" << _frame.pose.matrix()
79  << "\nLinear Velocity: " << _frame.linearVelocity.transpose()
80  << "\nAngular Velocity: " << _frame.angularVelocity.transpose()
81  << "\nLinear Acceleration: " << _frame.linearAcceleration.transpose()
82  << "\nAngular Acceleration: " << _frame.angularAcceleration.transpose();
83 
84  return stream;
85  }
86  }
87 }
88 
89 #include <gz/physics/detail/FrameData.hh>
90 
91 #endif
ignition::physics::AngularVector< Scalar, Dim > AngularVector
Definition: gz/physics/FrameData.hh:46
ignition::physics::Pose< Scalar, Dim > Pose
Definition: gz/physics/FrameData.hh:44
STL class.
std::size_t Dim std::ostream & operator<<(std::ostream &stream, const FrameData< Scalar, Dim > &_frame)
Definition: gz/physics/FrameData.hh:74
FrameData()
Constructor. This will initialize the transform with identity and all velocity and acceleration vecto...
AngularVector angularVelocity
The current angular velocity of the frame.
Definition: gz/physics/FrameData.hh:59
Vector< Scalar, Dim > LinearVector
Definition: gz/physics/Geometry.hh:52
void SetToZero()
Set the transform to identity and all velocity and acceleration vectors to zero.
LinearVector linearVelocity
The current linear velocity of the frame.
Definition: gz/physics/FrameData.hh:56
ignition::physics::LinearVector< Scalar, Dim > LinearVector
Definition: gz/physics/FrameData.hh:45
Eigen::Transform< Scalar, Dim, Eigen::Isometry > Pose
This is used by ignition-physics to represent rigid body transforms in 2D or 3D simulations....
Definition: gz/physics/Geometry.hh:44
The FrameData struct fully describes the kinematic state of a Frame with "Dim" dimensions and "Scalar...
Definition: gz/physics/FrameData.hh:42
AngularVector angularAcceleration
The current angular acceleration of the frame.
Definition: gz/physics/FrameData.hh:65
IGN_PHYSICS_MAKE_ALL_TYPE_COMBOS(FrameData) template< typename Scalar
Pose pose
The current SE3 transformation of the frame.
Definition: gz/physics/FrameData.hh:53
Vector< Scalar,(Dim *(Dim-1))/2 > AngularVector
Definition: gz/physics/Geometry.hh:56
LinearVector linearAcceleration
The current linear acceleration of the frame.
Definition: gz/physics/FrameData.hh:62