Gazebo Physics

API Reference

7.4.0
RelativeQuantity.hh
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17 
18 #ifndef GZ_PHYSICS_RELATIVEQUANTITY_HH_
19 #define GZ_PHYSICS_RELATIVEQUANTITY_HH_
20 
21 #include <gz/physics/FrameID.hh>
22 #include <gz/physics/FrameData.hh>
23 
24 namespace gz
25 {
26  namespace physics
27  {
47  template <typename Q, std::size_t Dim, typename CoordinateSpace>
49  {
52  public: template <typename... Args>
53  explicit RelativeQuantity(const FrameID &_parentID, Args&&... _args);
54 
56  public: RelativeQuantity(const Q &_rawValue);
57 
74  public: Q &RelativeToParent();
75 
77  public: const Q &RelativeToParent() const;
78 
95  public: const FrameID &ParentFrame() const;
96 
99  public: void MoveToNewParentFrame(const FrameID &_newParentFrame);
100 
102  public: using Quantity = Q;
103 
106  public: using Space = CoordinateSpace;
107 
110  public: enum { Dimension = Dim };
111 
114  private: FrameID parentFrame;
115 
117  private: Q value;
118  };
119 
120  template <typename Q, std::size_t Dim, typename CoordinateSpace>
122  std::ostream& stream,
124  {
125  stream << "Parent Frame ID: " << _fq.ParentFrame().ID()
126  << "\nRelative To Parent:\n" << _fq.RelativeToParent();
127 
128  return stream;
129  }
130 
131  namespace detail
132  {
134  // Forward delcarations of CoordinateSpaces
135  template <typename, std::size_t> struct SESpace;
136  template <typename, std::size_t, typename> struct SOSpace;
137  template <typename, std::size_t> struct EuclideanSpace;
138  template <typename, std::size_t> struct LinearVelocitySpace;
139  template <typename, std::size_t> struct AngularVelocitySpace;
140  template <typename, std::size_t> struct LinearAccelerationSpace;
141  template <typename, std::size_t> struct AngularAccelerationSpace;
142  template <typename, std::size_t> struct VectorSpace;
143  template <typename, std::size_t> struct FrameSpace;
144  template <typename, std::size_t> struct AABBSpace;
145  template <typename, std::size_t> struct WrenchSpace;
146  // TODO(MXG): We can add more spaces to support other types like Moments
147  // of Inertia, Jacobians, Spatial Velocities/Accelerations, Wrench+Point
148  // pairs, and so on.
149  //
150  // Users can also define Spaces for their own types (see the header
151  // gz/physics/detail/FrameSemantics.hpp for example implementations)
152  // and use them seamlessly in the Frame Semantics infrastructure.
153  }
154 
156  template <typename Scalar, std::size_t Dim>
158  Pose<Scalar, Dim>, Dim, detail::SESpace<Scalar, Dim>>;
160 
161 
162  template <typename Scalar, std::size_t Dim>
164  Eigen::Matrix<Scalar, Dim, Dim>, Dim,
165  detail::SOSpace<Scalar, Dim, Eigen::Matrix<Scalar, Dim, Dim>>>;
167 
168 
169  template <typename Scalar>
170  using RelativeQuaternion = RelativeQuantity<
171  Eigen::Quaternion<Scalar>, 3, detail::SOSpace<Scalar, 3,
172  Eigen::Quaternion<Scalar>>>;
173  // Note: Eigen only supports quaternions for 3 dimensional space, so we do
174  // not have a dimensionality template argument.
175  using RelativeQuaterniond = RelativeQuaternion<double>;
176  using RelativeQuaternionf = RelativeQuaternion<float>;
177 
179  template <typename Scalar, std::size_t Dim>
181  LinearVector<Scalar, Dim>, Dim, detail::EuclideanSpace<Scalar, Dim>>;
183 
184 
185  template <typename Scalar, std::size_t Dim>
187  LinearVector<Scalar, Dim>, Dim, detail::VectorSpace<Scalar, Dim>>;
189 
190 
191  template <typename Scalar, std::size_t Dim>
194  detail::VectorSpace<Scalar, (Dim*(Dim-1))/2>>;
196 
197 
198  template <typename Scalar, std::size_t Dim>
200  AlignedBox<Scalar, Dim>, Dim, detail::AABBSpace<Scalar, Dim>>;
202 
203 
204  template <typename Scalar, std::size_t Dim>
206  FrameData<Scalar, Dim>, Dim, detail::FrameSpace<Scalar, Dim>>;
208 
209 
210  template <typename Scalar, std::size_t Dim>
212  Wrench<Scalar, Dim>, Dim, detail::WrenchSpace<Scalar, Dim>>;
214  }
215 }
216 
217 #include <gz/physics/detail/RelativeQuantity.hh>
218 
219 #endif