public TwistVel(Twist p) : this(kdlPINVOKE.new_TwistVel__SWIG_3(Twist.getCPtr(p)), true)
{
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public void Integrate(Twist t_this, double frequency)
{
kdlPINVOKE.Frame_Integrate(swigCPtr, Twist.getCPtr(t_this), frequency);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public void setColumn(uint i, Twist t)
{
kdlPINVOKE.Jacobian_setColumn(swigCPtr, i, Twist.getCPtr(t));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public Twist Inverse(Twist arg)
{
Twist ret = new Twist(kdlPINVOKE.Rotation_Inverse__SWIG_3(swigCPtr, Twist.getCPtr(arg)), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public TwistVel Inverse(Twist arg)
{
TwistVel ret = new TwistVel(kdlPINVOKE.FrameVel_Inverse__SWIG_4(swigCPtr, Twist.getCPtr(arg)), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public FrameVel(Frame _T, Twist _t) : this(kdlPINVOKE.new_FrameVel__SWIG_2(Frame.getCPtr(_T), Twist.getCPtr(_t)), true)
{
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual int CartToJnt(JntArray q_in, Twist v_in, JntArray qdot_out)
{
int ret = kdlPINVOKE.ChainIkSolverVel_CartToJnt__SWIG_0(swigCPtr, JntArray.getCPtr(q_in), Twist.getCPtr(v_in), JntArray.getCPtr(qdot_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int CartTojnt(JntArray q_init, Frame p_in, JntArray qdot_in, Twist a_in, JntArray q_out, JntArray qdotdot_out)
{
int ret = kdlPINVOKE.ChainIkSolverAcc_CartTojnt__SWIG_1(swigCPtr, JntArray.getCPtr(q_init), Frame.getCPtr(p_in), JntArray.getCPtr(qdot_in), Twist.getCPtr(a_in), JntArray.getCPtr(q_out), JntArray.getCPtr(qdotdot_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}