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+/*****************************************************************************
+ * \file
+ * provides inline functions of rframes.h
+ *
+ * \author
+ * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
+ *
+ * \version
+ * ORO_Geometry V0.2
+ *
+ * \par History
+ * - $log$
+ *
+ * \par Release
+ * $Id: framevel.inl 19905 2009-04-23 13:29:54Z ben2610 $
+ * $Name: $
+ ****************************************************************************/
+
+
+// Methods and operators related to FrameVelVel
+// They all delegate most of the work to RotationVelVel and VectorVelVel
+FrameVel& FrameVel::operator = (const FrameVel& arg) {
+ M=arg.M;
+ p=arg.p;
+ return *this;
+}
+
+FrameVel FrameVel::Identity() {
+ return FrameVel(RotationVel::Identity(),VectorVel::Zero());
+}
+
+
+FrameVel operator *(const FrameVel& lhs,const FrameVel& rhs)
+{
+ return FrameVel(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p);
+}
+FrameVel operator *(const FrameVel& lhs,const Frame& rhs)
+{
+ return FrameVel(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p);
+}
+FrameVel operator *(const Frame& lhs,const FrameVel& rhs)
+{
+ return FrameVel(lhs.M*rhs.M , lhs.M*rhs.p+lhs.p );
+}
+
+VectorVel FrameVel::operator *(const VectorVel & arg) const
+{
+ return M*arg+p;
+}
+VectorVel FrameVel::operator *(const Vector & arg) const
+{
+ return M*arg+p;
+}
+
+VectorVel FrameVel::Inverse(const VectorVel& arg) const
+{
+ return M.Inverse(arg-p);
+}
+
+VectorVel FrameVel::Inverse(const Vector& arg) const
+{
+ return M.Inverse(arg-p);
+}
+
+FrameVel FrameVel::Inverse() const
+{
+ return FrameVel(M.Inverse(),-M.Inverse(p));
+}
+
+FrameVel& FrameVel::operator = (const Frame& arg) {
+ M = arg.M;
+ p = arg.p;
+ return *this;
+}
+bool Equal(const FrameVel& r1,const FrameVel& r2,double eps) {
+ return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps));
+}
+bool Equal(const Frame& r1,const FrameVel& r2,double eps) {
+ return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps));
+}
+bool Equal(const FrameVel& r1,const Frame& r2,double eps) {
+ return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps));
+}
+
+Frame FrameVel::GetFrame() const {
+ return Frame(M.R,p.p);
+}
+
+Twist FrameVel::GetTwist() const {
+ return Twist(p.v,M.w);
+}
+
+
+RotationVel operator* (const RotationVel& r1,const RotationVel& r2) {
+ return RotationVel( r1.R*r2.R, r1.w + r1.R*r2.w );
+}
+
+RotationVel operator* (const Rotation& r1,const RotationVel& r2) {
+ return RotationVel( r1*r2.R, r1*r2.w );
+}
+
+RotationVel operator* (const RotationVel& r1,const Rotation& r2) {
+ return RotationVel( r1.R*r2, r1.w );
+}
+
+RotationVel& RotationVel::operator = (const RotationVel& arg) {
+ R=arg.R;
+ w=arg.w;
+ return *this;
+ }
+RotationVel& RotationVel::operator = (const Rotation& arg) {
+ R=arg;
+ w=Vector::Zero();
+ return *this;
+}
+
+VectorVel RotationVel::UnitX() const {
+ return VectorVel(R.UnitX(),w*R.UnitX());
+}
+
+VectorVel RotationVel::UnitY() const {
+ return VectorVel(R.UnitY(),w*R.UnitY());
+}
+
+VectorVel RotationVel::UnitZ() const {
+ return VectorVel(R.UnitZ(),w*R.UnitZ());
+}
+
+
+
+RotationVel RotationVel::Identity() {
+ return RotationVel(Rotation::Identity(),Vector::Zero());
+}
+
+RotationVel RotationVel::Inverse() const {
+ return RotationVel(R.Inverse(),-R.Inverse(w));
+}
+
+VectorVel RotationVel::Inverse(const VectorVel& arg) const {
+ Vector tmp=R.Inverse(arg.p);
+ return VectorVel(tmp,
+ R.Inverse(arg.v-w*arg.p)
+ );
+}
+
+VectorVel RotationVel::Inverse(const Vector& arg) const {
+ Vector tmp=R.Inverse(arg);
+ return VectorVel(tmp,
+ R.Inverse(-w*arg)
+ );
+}
+
+
+VectorVel RotationVel::operator*(const VectorVel& arg) const {
+ Vector tmp=R*arg.p;
+ return VectorVel(tmp,w*tmp+R*arg.v);
+}
+
+VectorVel RotationVel::operator*(const Vector& arg) const {
+ Vector tmp=R*arg;
+ return VectorVel(tmp,w*tmp);
+}
+
+
+// = Rotations
+// The Rot... static functions give the value of the appropriate rotation matrix back.
+// The DoRot... functions apply a rotation R to *this,such that *this = *this * R.
+
+void RotationVel::DoRotX(const doubleVel& angle) {
+ w+=R*Vector(angle.grad,0,0);
+ R.DoRotX(angle.t);
+}
+RotationVel RotationVel::RotX(const doubleVel& angle) {
+ return RotationVel(Rotation::RotX(angle.t),Vector(angle.grad,0,0));
+}
+
+void RotationVel::DoRotY(const doubleVel& angle) {
+ w+=R*Vector(0,angle.grad,0);
+ R.DoRotY(angle.t);
+}
+RotationVel RotationVel::RotY(const doubleVel& angle) {
+ return RotationVel(Rotation::RotX(angle.t),Vector(0,angle.grad,0));
+}
+
+void RotationVel::DoRotZ(const doubleVel& angle) {
+ w+=R*Vector(0,0,angle.grad);
+ R.DoRotZ(angle.t);
+}
+RotationVel RotationVel::RotZ(const doubleVel& angle) {
+ return RotationVel(Rotation::RotZ(angle.t),Vector(0,0,angle.grad));
+}
+
+
+RotationVel RotationVel::Rot(const Vector& rotvec,const doubleVel& angle)
+// rotvec has arbitrary norm
+// rotation around a constant vector !
+{
+ Vector v(rotvec);
+ v.Normalize();
+ return RotationVel(Rotation::Rot2(v,angle.t),v*angle.grad);
+}
+
+RotationVel RotationVel::Rot2(const Vector& rotvec,const doubleVel& angle)
+ // rotvec is normalized.
+{
+ return RotationVel(Rotation::Rot2(rotvec,angle.t),rotvec*angle.grad);
+}
+
+
+VectorVel operator + (const VectorVel& r1,const VectorVel& r2) {
+ return VectorVel(r1.p+r2.p,r1.v+r2.v);
+}
+
+VectorVel operator - (const VectorVel& r1,const VectorVel& r2) {
+ return VectorVel(r1.p-r2.p,r1.v-r2.v);
+}
+
+VectorVel operator + (const VectorVel& r1,const Vector& r2) {
+ return VectorVel(r1.p+r2,r1.v);
+}
+
+VectorVel operator - (const VectorVel& r1,const Vector& r2) {
+ return VectorVel(r1.p-r2,r1.v);
+}
+
+VectorVel operator + (const Vector& r1,const VectorVel& r2) {
+ return VectorVel(r1+r2.p,r2.v);
+}
+
+VectorVel operator - (const Vector& r1,const VectorVel& r2) {
+ return VectorVel(r1-r2.p,-r2.v);
+}
+
+// unary -
+VectorVel operator - (const VectorVel& r) {
+ return VectorVel(-r.p,-r.v);
+}
+
+void SetToZero(VectorVel& v){
+ SetToZero(v.p);
+ SetToZero(v.v);
+}
+
+// cross prod.
+VectorVel operator * (const VectorVel& r1,const VectorVel& r2) {
+ return VectorVel(r1.p*r2.p, r1.p*r2.v+r1.v*r2.p);
+}
+
+VectorVel operator * (const VectorVel& r1,const Vector& r2) {
+ return VectorVel(r1.p*r2, r1.v*r2);
+}
+
+VectorVel operator * (const Vector& r1,const VectorVel& r2) {
+ return VectorVel(r1*r2.p, r1*r2.v);
+}
+
+
+
+// scalar mult.
+VectorVel operator * (double r1,const VectorVel& r2) {
+ return VectorVel(r1*r2.p, r1*r2.v);
+}
+
+VectorVel operator * (const VectorVel& r1,double r2) {
+ return VectorVel(r1.p*r2, r1.v*r2);
+}
+
+
+
+VectorVel operator * (const doubleVel& r1,const VectorVel& r2) {
+ return VectorVel(r1.t*r2.p, r1.t*r2.v + r1.grad*r2.p);
+}
+
+VectorVel operator * (const VectorVel& r2,const doubleVel& r1) {
+ return VectorVel(r1.t*r2.p, r1.t*r2.v + r1.grad*r2.p);
+}
+
+VectorVel operator / (const VectorVel& r1,double r2) {
+ return VectorVel(r1.p/r2, r1.v/r2);
+}
+
+VectorVel operator / (const VectorVel& r2,const doubleVel& r1) {
+ return VectorVel(r2.p/r1.t, r2.v/r1.t - r2.p*r1.grad/r1.t/r1.t);
+}
+
+VectorVel operator*(const Rotation& R,const VectorVel& x) {
+ return VectorVel(R*x.p,R*x.v);
+}
+
+VectorVel& VectorVel::operator = (const VectorVel& arg) {
+ p=arg.p;
+ v=arg.v;
+ return *this;
+}
+VectorVel& VectorVel::operator = (const Vector& arg) {
+ p=arg;
+ v=Vector::Zero();
+ return *this;
+}
+VectorVel& VectorVel::operator += (const VectorVel& arg) {
+ p+=arg.p;
+ v+=arg.v;
+ return *this;
+}
+VectorVel& VectorVel::operator -= (const VectorVel& arg) {
+ p-=arg.p;
+ v-=arg.v;
+ return *this;
+}
+
+VectorVel VectorVel::Zero() {
+ return VectorVel(Vector::Zero(),Vector::Zero());
+}
+void VectorVel::ReverseSign() {
+ p.ReverseSign();
+ v.ReverseSign();
+}
+doubleVel VectorVel::Norm() const {
+ double n = p.Norm();
+ return doubleVel(n,dot(p,v)/n);
+}
+
+bool Equal(const VectorVel& r1,const VectorVel& r2,double eps) {
+ return (Equal(r1.p,r2.p,eps) && Equal(r1.v,r2.v,eps));
+}
+bool Equal(const Vector& r1,const VectorVel& r2,double eps) {
+ return (Equal(r1,r2.p,eps) && Equal(Vector::Zero(),r2.v,eps));
+}
+bool Equal(const VectorVel& r1,const Vector& r2,double eps) {
+ return (Equal(r1.p,r2,eps) && Equal(r1.v,Vector::Zero(),eps));
+}
+
+bool Equal(const RotationVel& r1,const RotationVel& r2,double eps) {
+ return (Equal(r1.w,r2.w,eps) && Equal(r1.R,r2.R,eps));
+}
+bool Equal(const Rotation& r1,const RotationVel& r2,double eps) {
+ return (Equal(Vector::Zero(),r2.w,eps) && Equal(r1,r2.R,eps));
+}
+bool Equal(const RotationVel& r1,const Rotation& r2,double eps) {
+ return (Equal(r1.w,Vector::Zero(),eps) && Equal(r1.R,r2,eps));
+}
+bool Equal(const TwistVel& a,const TwistVel& b,double eps) {
+ return (Equal(a.rot,b.rot,eps)&&
+ Equal(a.vel,b.vel,eps) );
+}
+bool Equal(const Twist& a,const TwistVel& b,double eps) {
+ return (Equal(a.rot,b.rot,eps)&&
+ Equal(a.vel,b.vel,eps) );
+}
+bool Equal(const TwistVel& a,const Twist& b,double eps) {
+ return (Equal(a.rot,b.rot,eps)&&
+ Equal(a.vel,b.vel,eps) );
+}
+
+
+
+IMETHOD doubleVel dot(const VectorVel& lhs,const VectorVel& rhs) {
+ return doubleVel(dot(lhs.p,rhs.p),dot(lhs.p,rhs.v)+dot(lhs.v,rhs.p));
+}
+IMETHOD doubleVel dot(const VectorVel& lhs,const Vector& rhs) {
+ return doubleVel(dot(lhs.p,rhs),dot(lhs.v,rhs));
+}
+IMETHOD doubleVel dot(const Vector& lhs,const VectorVel& rhs) {
+ return doubleVel(dot(lhs,rhs.p),dot(lhs,rhs.v));
+}
+
+
+
+
+
+
+
+
+
+
+
+
+TwistVel TwistVel::Zero()
+{
+ return TwistVel(VectorVel::Zero(),VectorVel::Zero());
+}
+
+
+void TwistVel::ReverseSign()
+{
+ vel.ReverseSign();
+ rot.ReverseSign();
+}
+
+TwistVel TwistVel::RefPoint(const VectorVel& v_base_AB)
+ // Changes the reference point of the TwistVel.
+ // The VectorVel v_base_AB is expressed in the same base as the TwistVel
+ // The VectorVel v_base_AB is a VectorVel from the old point to
+ // the new point.
+ // Complexity : 6M+6A
+{
+ return TwistVel(this->vel+this->rot*v_base_AB,this->rot);
+}
+
+TwistVel& TwistVel::operator-=(const TwistVel& arg)
+{
+ vel-=arg.vel;
+ rot -=arg.rot;
+ return *this;
+}
+
+TwistVel& TwistVel::operator+=(const TwistVel& arg)
+{
+ vel+=arg.vel;
+ rot +=arg.rot;
+ return *this;
+}
+
+
+TwistVel operator*(const TwistVel& lhs,double rhs)
+{
+ return TwistVel(lhs.vel*rhs,lhs.rot*rhs);
+}
+
+TwistVel operator*(double lhs,const TwistVel& rhs)
+{
+ return TwistVel(lhs*rhs.vel,lhs*rhs.rot);
+}
+
+TwistVel operator/(const TwistVel& lhs,double rhs)
+{
+ return TwistVel(lhs.vel/rhs,lhs.rot/rhs);
+}
+
+
+TwistVel operator*(const TwistVel& lhs,const doubleVel& rhs)
+{
+ return TwistVel(lhs.vel*rhs,lhs.rot*rhs);
+}
+
+TwistVel operator*(const doubleVel& lhs,const TwistVel& rhs)
+{
+ return TwistVel(lhs*rhs.vel,lhs*rhs.rot);
+}
+
+TwistVel operator/(const TwistVel& lhs,const doubleVel& rhs)
+{
+ return TwistVel(lhs.vel/rhs,lhs.rot/rhs);
+}
+
+
+
+// addition of TwistVel's
+TwistVel operator+(const TwistVel& lhs,const TwistVel& rhs)
+{
+ return TwistVel(lhs.vel+rhs.vel,lhs.rot+rhs.rot);
+}
+
+TwistVel operator-(const TwistVel& lhs,const TwistVel& rhs)
+{
+ return TwistVel(lhs.vel-rhs.vel,lhs.rot-rhs.rot);
+}
+
+// unary -
+TwistVel operator-(const TwistVel& arg)
+{
+ return TwistVel(-arg.vel,-arg.rot);
+}
+
+void SetToZero(TwistVel& v)
+{
+ SetToZero(v.vel);
+ SetToZero(v.rot);
+}
+
+
+
+
+
+TwistVel RotationVel::Inverse(const TwistVel& arg) const
+{
+ return TwistVel(Inverse(arg.vel),Inverse(arg.rot));
+}
+
+TwistVel RotationVel::operator * (const TwistVel& arg) const
+{
+ return TwistVel((*this)*arg.vel,(*this)*arg.rot);
+}
+
+TwistVel RotationVel::Inverse(const Twist& arg) const
+{
+ return TwistVel(Inverse(arg.vel),Inverse(arg.rot));
+}
+
+TwistVel RotationVel::operator * (const Twist& arg) const
+{
+ return TwistVel((*this)*arg.vel,(*this)*arg.rot);
+}
+
+
+TwistVel FrameVel::operator * (const TwistVel& arg) const
+{
+ TwistVel tmp;
+ tmp.rot = M*arg.rot;
+ tmp.vel = M*arg.vel+p*tmp.rot;
+ return tmp;
+}
+
+TwistVel FrameVel::operator * (const Twist& arg) const
+{
+ TwistVel tmp;
+ tmp.rot = M*arg.rot;
+ tmp.vel = M*arg.vel+p*tmp.rot;
+ return tmp;
+}
+
+TwistVel FrameVel::Inverse(const TwistVel& arg) const
+{
+ TwistVel tmp;
+ tmp.rot = M.Inverse(arg.rot);
+ tmp.vel = M.Inverse(arg.vel-p*arg.rot);
+ return tmp;
+}
+
+TwistVel FrameVel::Inverse(const Twist& arg) const
+{
+ TwistVel tmp;
+ tmp.rot = M.Inverse(arg.rot);
+ tmp.vel = M.Inverse(arg.vel-p*arg.rot);
+ return tmp;
+}
+
+Twist TwistVel::GetTwist() const {
+ return Twist(vel.p,rot.p);
+}
+
+Twist TwistVel::GetTwistDot() const {
+ return Twist(vel.v,rot.v);
+}
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