Gazebo Physics

API Reference

7.4.0
FrameData.hh
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1 /*
2  * Copyright (C) 2017 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef GZ_PHYSICS_FRAMEDATA_HH_
19 #define GZ_PHYSICS_FRAMEDATA_HH_
20 
21 #include <gz/physics/Geometry.hh>
22 
23 namespace gz
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