SOFA API  6a688117
Open source framework for multi-physics simuation
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)
 
SpatialVectoroperator+= (const SpatialVector &v)
 
SpatialVector operator* (Real a) const
 
SpatialVectoroperator*= (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...
 
VecgetLinearVelocity ()
 
const VecgetLinearVelocity () const
 
void setLinearVelocity (const Vec &v)
 
VecgetAngularVelocity ()
 
const VecgetAngularVelocity () const
 
void setAngularVelocity (const Vec &v)
 
VecgetTorque ()
 
const VecgetTorque () const
 
void setTorque (const Vec &v)
 
VecgetForce ()
 
const VecgetForce () 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