pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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ForceBase< Derived > Class Template Reference
Spatial

Base interface for forces representation. More...

#include <pinocchio/spatial/force-base.hpp>

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Public Member Functions

AngularType angular ()
 Return the angular part of the force vector.
ConstAngularType angular () const
 Return the angular part of the force vector.
template<typename V3Like>
void angular (const Eigen::MatrixBase< V3Like > &n)
 Set the angular part of the force vector.
Derived & const_cast_derived () const
Derived & derived ()
const Derived & derived () const
void disp (std::ostream &os) const
template<typename MotionDerived>
Scalar dot (const MotionDense< MotionDerived > &m) const
 FORCE_TYPEDEF_TPL (Derived)
bool isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
LinearType linear ()
 Return the linear part of the force vector.
ConstLinearType linear () const
 Return the linear part of the force vector.
template<typename V3Like>
void linear (const Eigen::MatrixBase< V3Like > &f)
 Set the linear part of the force vector.
template<typename M1>
MotionAlgebraAction< Derived, M1 >::ReturnType motionAction (const MotionDense< M1 > &v) const
 operator Vector6 () const
template<typename F2>
bool operator!= (const ForceBase< F2 > &other) const
template<typename OtherScalar>
ForcePlain operator* (const OtherScalar &alpha) const
Derived operator+ (const ForceBase< Derived > &phi) const
Derived & operator+= (const ForceBase< Derived > &phi)
 Replaces *this by *this + other.
Derived operator- () const
Derived operator- (const ForceBase< Derived > &phi) const
Derived & operator-= (const ForceBase< Derived > &phi)
 Replaces *this by *this - other.
template<typename OtherScalar>
ForcePlain operator/ (const OtherScalar &alpha) const
Derived & operator= (const ForceBase< Derived > &other)
 Copies the Derived Force into *this.
template<typename F2>
bool operator== (const ForceBase< F2 > &other) const
template<typename S2, int O2>
SE3GroupAction< Derived >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
 Transform from A to B coordinates the Force represented by *this such that.
template<typename S2, int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
 Transform from B to A coordinates the Force represented by *this such that.
ToVectorReturnType toVector ()
 Return the force as an Eigen vector.
ToVectorConstReturnType toVector () const
 Return the force as an Eigen vector.

Friends

std::ostream & operator<< (std::ostream &os, const ForceBase< Derived > &X)

Detailed Description

template<class Derived>
class pinocchio::ForceBase< Derived >

Base interface for forces representation.

The Class implements all

This class hierarchy represents a spatial force, e.g. a spatial impulse or force associated to a body. The spatial force is the mathematical representation of $ se^{*}(3) $, the dual of $ se(3) $.

Template Parameters
Derived{ description }

Definition at line 23 of file force-base.hpp.

Member Function Documentation

◆ angular() [1/3]

template<class Derived>
AngularType angular()
inline

Return the angular part of the force vector.

Returns
The 3D vector associated to the angular part of the 6D force vector

Definition at line 63 of file force-base.hpp.

◆ angular() [2/3]

template<class Derived>
ConstAngularType angular()const
inline

Return the angular part of the force vector.

Returns
The 3D vector associated to the angular part of the 6D force vector

Definition at line 47 of file force-base.hpp.

◆ angular() [3/3]

template<class Derived>
template<typename V3Like>
void angular(const Eigen::MatrixBase< V3Like > &n)
inline

Set the angular part of the force vector.

Template Parameters
V3LikeA vector 3 like type.
Parameters
[in]n

Definition at line 82 of file force-base.hpp.

◆ const_cast_derived()

template<class Derived>
Derived & const_cast_derived()const
inline

Definition at line 37 of file force-base.hpp.

◆ derived() [1/2]

template<class Derived>
Derived & derived()
inline

Definition at line 28 of file force-base.hpp.

◆ derived() [2/2]

template<class Derived>
const Derived & derived()const
inline

Definition at line 32 of file force-base.hpp.

◆ disp()

template<class Derived>
void disp(std::ostream &os)const
inline

Definition at line 277 of file force-base.hpp.

◆ dot()

template<class Derived>
template<typename MotionDerived>
Scalar dot(const MotionDense< MotionDerived > &m)const
inline
Returns
the dot product of *this with m *

Definition at line 229 of file force-base.hpp.

◆ isApprox()

template<class Derived>
bool isApprox(const Derived &other,
const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const
inline
Returns
true if *this is approximately equal to other, within the precision given by prec.

Definition at line 148 of file force-base.hpp.

◆ isZero()

template<class Derived>
bool isZero(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision())const
inline
Returns
true if the component of the linear and angular part of the Spatial Force are approximately equal to zero, within the precision given by prec.

Definition at line 158 of file force-base.hpp.

◆ linear() [1/3]

template<class Derived>
LinearType linear()
inline

Return the linear part of the force vector.

Returns
The 3D vector associated to the linear part of the 6D force vector

Definition at line 69 of file force-base.hpp.

◆ linear() [2/3]

template<class Derived>
ConstLinearType linear()const
inline

Return the linear part of the force vector.

Returns
The 3D vector associated to the linear part of the 6D force vector

Definition at line 57 of file force-base.hpp.

◆ linear() [3/3]

template<class Derived>
template<typename V3Like>
void linear(const Eigen::MatrixBase< V3Like > &f)
inline

Set the linear part of the force vector.

Template Parameters
V3LikeA vector 3 like type.
Parameters
[in]f

Definition at line 95 of file force-base.hpp.

◆ motionAction()

template<class Derived>
template<typename M1>
MotionAlgebraAction< Derived, M1 >::ReturnType motionAction(const MotionDense< M1 > &v)const
inline

Definition at line 272 of file force-base.hpp.

◆ operator Vector6()

template<class Derived>
operator Vector6()const
inline

Definition at line 123 of file force-base.hpp.

◆ operator!=()

template<class Derived>
template<typename F2>
bool operator!=(const ForceBase< F2 > &other)const
inline
Returns
true if at least one coefficient of *this and other does not match.

Definition at line 141 of file force-base.hpp.

◆ operator*()

template<class Derived>
template<typename OtherScalar>
ForcePlain operator*(const OtherScalar &alpha)const
inline
Returns
an expression of *this scaled by the factor alpha

Definition at line 199 of file force-base.hpp.

◆ operator+()

template<class Derived>
Derived operator+(const ForceBase< Derived > &phi)const
inline
Returns
an expression of the sum of *this and other

Definition at line 191 of file force-base.hpp.

◆ operator+=()

template<class Derived>
Derived & operator+=(const ForceBase< Derived > &phi)
inline

Replaces *this by *this + other.

Returns
a reference to *this

Definition at line 175 of file force-base.hpp.

◆ operator-() [1/2]

template<class Derived>
Derived operator-()const
inline
Returns
an expression of the opposite of *this

Definition at line 214 of file force-base.hpp.

◆ operator-() [2/2]

template<class Derived>
Derived operator-(const ForceBase< Derived > &phi)const
inline
Returns
an expression of the difference of *this and phi

Definition at line 221 of file force-base.hpp.

◆ operator-=()

template<class Derived>
Derived & operator-=(const ForceBase< Derived > &phi)
inline

Replaces *this by *this - other.

Returns
a reference to *this

Definition at line 184 of file force-base.hpp.

◆ operator/()

template<class Derived>
template<typename OtherScalar>
ForcePlain operator/(const OtherScalar &alpha)const
inline
Returns
an expression of *this divided by the factor alpha

Definition at line 207 of file force-base.hpp.

◆ operator=()

template<class Derived>
Derived & operator=(const ForceBase< Derived > &other)
inline

Copies the Derived Force into *this.

Returns
a reference to *this

Definition at line 166 of file force-base.hpp.

◆ operator==()

template<class Derived>
template<typename F2>
bool operator==(const ForceBase< F2 > &other)const
inline
Returns
true if each coefficients of *this and other are all exactly equal.
Warning
When using floating point scalar values you probably should rather use a fuzzy comparison such as isApprox()

Definition at line 133 of file force-base.hpp.

◆ se3Action()

template<class Derived>
template<typename S2, int O2>
SE3GroupAction< Derived >::ReturnType se3Action(const SE3Tpl< S2, O2 > &m)const
inline

Transform from A to B coordinates the Force represented by *this such that.

\begin{equation*} {}^{B}f = {}^{B}X_A^* * {}^{A}f \end{equation*}

Parameters
[in]mThe rigid transformation $ {}^{B}m_A $ whose coordinates transform for forces is {}^{B}X_A^*
Returns
an expression of the force expressed in the new coordinates

Definition at line 247 of file force-base.hpp.

◆ se3ActionInverse()

template<class Derived>
template<typename S2, int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse(const SE3Tpl< S2, O2 > &m)const
inline

Transform from B to A coordinates the Force represented by *this such that.

\begin{equation*} {}^{A}f = {}^{A}X_B^* * {}^{A}f \end{equation*}

Parameters
[in]mThe rigid transformation $ {}^{B}m_A $ whose coordinates transform for forces is {}^{B}X_A^*
Returns
an expression of the force expressed in the new coordinates

Definition at line 265 of file force-base.hpp.

◆ toVector() [1/2]

template<class Derived>
ToVectorReturnType toVector()
inline

Return the force as an Eigen vector.

Returns
The 6D vector $ \phi $ such that

\begin{equation*}{}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix} \end{equation*}

Definition at line 114 of file force-base.hpp.

◆ toVector() [2/2]

template<class Derived>
ToVectorConstReturnType toVector()const
inline

Return the force as an Eigen vector.

Returns
The 6D vector $ \phi $ such that

\begin{equation*}{}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix} \end{equation*}

Definition at line 108 of file force-base.hpp.

◆ operator<<

template<class Derived>
std::ostream & operator<<(std::ostream &os,
const ForceBase< Derived > &X )
friend

Definition at line 281 of file force-base.hpp.

The documentation for this class was generated from the following files: