SpatialVelocity.h

/*
 * Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_SPATIALVELOCITY_H
#define ROBOTSIO_SPATIALVELOCITY_H
 
#include <Eigen/Dense>
 
#include <RobotsIO/Utils/DataStream.h>
 
namespace RobotsIO {
    namespace Utils {
        class SpatialVelocity;
    }
}
 
 
class RobotsIO::Utils::SpatialVelocity : public RobotsIO::Utils::DataStream
{
public:
    virtual ~SpatialVelocity();
 
    virtual Eigen::Vector3d angular_velocity();
 
    virtual Eigen::Vector3d linear_velocity_origin();
 
    virtual Eigen::Vector3d linear_velocity_screw();
 
    virtual Eigen::Vector3d screw_position();
 
    virtual double elapsed_time() = 0;
 
    bool is_screw_degenerate();
 
protected:
    virtual Eigen::VectorXd twist() = 0;
};
 
#endif /* ROBOTSIO_SPATIALVELOCITY_H */