sofa::defaulttype::SolidTypes< R >::Twist Class Reference

#include <SolidTypes.h>

A twist aka a SpatialVector representing a velocity This is pratically a SpatialVector (screw) with the additionnal semantics that this screw represents a twist (velocity) and not a wrench (force and torque) More...

Inheritance diagram for sofa::defaulttype::SolidTypes< R >::Twist:

Detailed Description

template<class R = float>
class sofa::defaulttype::SolidTypes< R >::Twist

A twist aka a SpatialVector representing a velocity This is pratically a SpatialVector (screw) with the additionnal semantics that this screw represents a twist (velocity) and not a wrench (force and torque)

Author

Anthony Truchet, CEA, 2006

Public Member Functions
	Twist (const Vec3 &linear, const Vec3 &angular)
Public Member Functions inherited from sofa::defaulttype::SolidTypes< R >::SpatialVector
void	clear ()
	SpatialVector ()
	SpatialVector (const Vec &l, const Vec &f)
SpatialVector &	operator+= (const SpatialVector &v)
SpatialVector	operator* (Real a) const
SpatialVector &	operator*= (Real a)
SpatialVector	operator+ (const SpatialVector &v) const
SpatialVector	operator- (const SpatialVector &v) const
SpatialVector	operator- () const
Real	operator* (const SpatialVector &v) const
	Spatial dot product (cross terms) More...
SpatialVector	cross (const SpatialVector &v) const
	Spatial cross product. More...
SpatialVector	operator* (const Mat66 &) const
	product with a dense matrix More...
Vec &	getLinearVelocity ()
const Vec &	getLinearVelocity () const
void	setLinearVelocity (const Vec &v)
Vec &	getAngularVelocity ()
const Vec &	getAngularVelocity () const
void	setAngularVelocity (const Vec &v)
Vec &	getTorque ()
const Vec &	getTorque () const
void	setTorque (const Vec &v)
Vec &	getForce ()
const Vec &	getForce () const
void	setForce (const Vec &v)

Additional Inherited Members
Public Attributes inherited from sofa::defaulttype::SolidTypes< R >::SpatialVector
Vec	lineVec
Vec	freeVec

Constructor details

template<class R = float>

sofa::defaulttype::SolidTypes< R >::Twist::Twist ( const Vec3 &  linear, const Vec3 &  angular  )

inline