ClassicalAcc class
#include <iDynTree/ClassicalAcc.h>
Class representing a classical 6D acceleration, i.e.
the concatenation of the 3d vector of the acceleration of a point and of the 3d vector of the derivative of an angular velocity.
Base classes
-
template<unsigned int VecSize>class VectorFixSize<6>
- Class providing a simple vector of N elements.
Public static functions
- static auto Zero() -> ClassicalAcc
- constructor helpers
Constructors, destructors, conversion operators
- ClassicalAcc()
- Default constructor.
- ClassicalAcc(const double* in_data, const unsigned int in_size)
- ClassicalAcc(const ClassicalAcc& other)
Public functions
- auto changeCoordFrame(const Rotation& newCoordFrame) -> const ClassicalAcc&
- auto getLinearVec3() const -> Vector3
- auto getAngularVec3() const -> Vector3
- void fromSpatial(const SpatialAcc& spatialAcc, const Twist& vel)
- Build a classical acceleration from a spatial acceleation and spatial twist of a body.
- void toSpatial(SpatialAcc& spatialAcc, const Twist& vel) const
- Convert a classical acceleation to a spatial one.
Function documentation
iDynTree::
Default constructor.
The data is not reset to the default for perfomance reason. Please initialize the data in the class before any use.