pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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ForceSetTpl< _Scalar, _Options > Class Template Reference

Classes

struct  Block

Public Types

enum  { Options = _Options }
typedef Eigen::Matrix< Scalar, 3, 3, Options > Matrix3
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x
typedef Eigen::Matrix< Scalar, 6, 6, Options > Matrix6
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
typedef _Scalar Scalar
typedef SE3Tpl< Scalar, Options > SE3
typedef Eigen::Matrix< Scalar, 3, 1, Options > Vector3
typedef Eigen::Matrix< Scalar, 6, 1, Options > Vector6

Public Member Functions

 ForceSetTpl (const int &ncols)
 ForceSetTpl (const Matrix3x &linear, const Matrix3x &angular)
const Matrix3x & angular () const
Block block (const int &idx, const int &len)
const Matrix3x & linear () const
Matrix6x matrix () const
 operator Matrix6x () const
ForceSetTpl se3Action (const SE3 &m) const
 af = aXb.act(bf)
ForceSetTpl se3ActionInverse (const SE3 &m) const
 bf = aXb.actInv(af)

Friends

std::ostream & operator<< (std::ostream &os, const ForceSetTpl &phi)

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::ForceSetTpl< _Scalar, _Options >

Definition at line 14 of file force-set.hpp.

Member Typedef Documentation

◆ Matrix3

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3

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

◆ Matrix3x

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x

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

◆ Matrix6

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6

Definition at line 25 of file force-set.hpp.

◆ Matrix6x

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6x

Definition at line 29 of file force-set.hpp.

◆ Scalar

template<typename _Scalar, int _Options>
typedef _Scalar Scalar

Definition at line 17 of file force-set.hpp.

◆ SE3

template<typename _Scalar, int _Options>
typedef SE3Tpl<Scalar, Options> SE3

Definition at line 26 of file force-set.hpp.

◆ Vector3

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3

Definition at line 22 of file force-set.hpp.

◆ Vector6

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6

Definition at line 24 of file force-set.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>
anonymous enum

Definition at line 18 of file force-set.hpp.

Constructor & Destructor Documentation

◆ ForceSetTpl() [1/2]

template<typename _Scalar, int _Options>
ForceSetTpl(const int &ncols)
inline

Definition at line 33 of file force-set.hpp.

◆ ForceSetTpl() [2/2]

template<typename _Scalar, int _Options>
ForceSetTpl(const Matrix3x &linear,
const Matrix3x &angular )
inline

Definition at line 41 of file force-set.hpp.

Member Function Documentation

◆ angular()

template<typename _Scalar, int _Options>
const Matrix3x & angular()const
inline

Definition at line 67 of file force-set.hpp.

◆ block()

template<typename _Scalar, int _Options>
Block block(const int &idx,
const int &len )
inline

Definition at line 179 of file force-set.hpp.

◆ linear()

template<typename _Scalar, int _Options>
const Matrix3x & linear()const
inline

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

◆ matrix()

template<typename _Scalar, int _Options>
Matrix6x matrix()const
inline

Definition at line 49 of file force-set.hpp.

◆ operator Matrix6x()

template<typename _Scalar, int _Options>
operator Matrix6x()const
inline

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

◆ se3Action()

template<typename _Scalar, int _Options>
ForceSetTpl se3Action(const SE3 &m)const
inline

af = aXb.act(bf)

Definition at line 73 of file force-set.hpp.

◆ se3ActionInverse()

template<typename _Scalar, int _Options>
ForceSetTpl se3ActionInverse(const SE3 &m)const
inline

bf = aXb.actInv(af)

Definition at line 80 of file force-set.hpp.

◆ operator<<

template<typename _Scalar, int _Options>
std::ostream & operator<<(std::ostream &os,
const ForceSetTpl< _Scalar, _Options > &phi )
friend

Definition at line 88 of file force-set.hpp.

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