Inheritance diagram for ForceTpl< _Scalar, _Options >:

Collaboration diagram for ForceTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options }
typedef ForceDense< ForceTpl >	Base
Public Types inherited from ForceDense< ForceTpl< _Scalar, _Options > >
typedef ForceBase< ForceTpl< _Scalar, _Options > >	Base
typedef traits< ForceTpl< _Scalar, _Options > >::ForceRefType	ForceRefType

Public Member Functions
template<typename V1, typename V2>
	ForceTpl (const Eigen::MatrixBase< V1 > &v, const Eigen::MatrixBase< V2 > &w)
template<typename V6>
	ForceTpl (const Eigen::MatrixBase< V6 > &v)
template<typename F2>
	ForceTpl (const ForceBase< F2 > &clone)
template<typename M2>
	ForceTpl (const ForceDense< M2 > &clone)
	ForceTpl (const ForceTpl &clone)
template<typename S2, int O2>
	ForceTpl (const ForceTpl< S2, O2 > &other)
template<int O2>
	ForceTpl (const ForceTpl< Scalar, O2 > &clone)
AngularType	angular ()
	Return the angular part of the force vector.
ConstAngularType	angular () const
	Return the angular part of the force vector.
void	angular (const Eigen::MatrixBase< V3Like > &n)
	Set the angular part of the force vector.
AngularType	angular_impl ()
ConstAngularType	angular_impl () const
template<typename V3>
void	angular_impl (const Eigen::MatrixBase< V3 > &w)
template<typename NewScalar>
ForceTpl< NewScalar, Options >	cast () const
	FORCE_TYPEDEF_TPL (ForceTpl)
LinearType	linear ()
	Return the linear part of the force vector.
ConstLinearType	linear () const
	Return the linear part of the force vector.
void	linear (const Eigen::MatrixBase< V3Like > &f)
	Set the linear part of the force vector.
LinearType	linear_impl ()
ConstLinearType	linear_impl () const
template<typename V3>
void	linear_impl (const Eigen::MatrixBase< V3 > &v)
ForceTpl &	operator= (const Eigen::MatrixBase< V6 > &v)
ForceTpl &	operator= (const ForceBase< ForceTpl > &other)
	Copies the Derived Force into *this.
ForceTpl &	operator= (const ForceDense &other)
ForceTpl &	operator= (const ForceDense< D2 > &other)
ForceTpl &	operator= (const ForceTpl &clone)
ForceRef< Vector6 >	ref ()
ToVectorReturnType	toVector_impl ()
ToVectorConstReturnType	toVector_impl () const
Public Member Functions inherited from ForceDense< ForceTpl< _Scalar, _Options > >
ForcePlain	__div__ (const OtherScalar &alpha) const
ForceTpl< _Scalar, _Options > &	__mequ__ (const ForceDense< M1 > &v)
ForcePlain	__minus__ (const ForceDense< M1 > &v) const
ForcePlain	__mult__ (const OtherScalar &alpha) const
ForcePlain	__opposite__ () const
ForceTpl< _Scalar, _Options > &	__pequ__ (const ForceDense< M1 > &v)
ForcePlain	__plus__ (const ForceDense< M1 > &v) const
AngularType	angular ()
	Return the angular part of the force vector.
ConstAngularType	angular () const
	Return the angular part of the force vector.
void	angular (const Eigen::MatrixBase< V3Like > &n)
	Set the angular part of the force vector.
ForceTpl< _Scalar, _Options > &	derived ()
const ForceTpl< _Scalar, _Options > &	derived () const
void	disp_impl (std::ostream &os) const
Scalar	dot (const MotionDense< F1 > &phi) const
	FORCE_TYPEDEF_TPL (ForceTpl< _Scalar, _Options >)
bool	isApprox (const ForceTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isApprox_impl (const ForceDense< D2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isEqual_impl (const ForceDense< D2 > &other) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero_impl (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.
void	linear (const Eigen::MatrixBase< V3Like > &f)
	Set the linear part of the force vector.
void	motionAction (const MotionDense< M1 > &v, ForceDense< M2 > &fout) const
ForcePlain	operator+ (const ForceDense< F1 > &f) const
ForceTpl< _Scalar, _Options > &	operator+= (const ForceDense< F1 > &f)
ForcePlain	operator- () const
ForceTpl< _Scalar, _Options > &	operator-= (const ForceDense< M1 > &v)
ForceTpl< _Scalar, _Options > &	operator= (const ForceBase< ForceTpl< _Scalar, _Options > > &other)
	Copies the Derived Force into *this.
ForceRefType	ref ()
void	se3Action_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
void	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
ForceTpl< _Scalar, _Options > &	set (const ForceDense< D2 > &other)
ForceTpl< _Scalar, _Options > &	setRandom ()
ForceTpl< _Scalar, _Options > &	setZero ()
Public Member Functions inherited from ForceBase< ForceTpl< _Scalar, _Options > >
ConstAngularType	angular () const
	Return the angular part of the force vector.
ForceTpl< _Scalar, _Options > &	const_cast_derived () const
ForceTpl< _Scalar, _Options > &	derived ()
void	disp (std::ostream &os) const
Scalar	dot (const MotionDense< MotionDerived > &m) const
	FORCE_TYPEDEF_TPL (ForceTpl< _Scalar, _Options >)
bool	isApprox (const ForceTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
ConstLinearType	linear () const
	Return the linear part of the force vector.
MotionAlgebraAction< ForceTpl< _Scalar, _Options >, M1 >::ReturnType	motionAction (const MotionDense< M1 > &v) const
	operator Vector6 () const
bool	operator!= (const ForceBase< F2 > &other) const
ForcePlain	operator* (const OtherScalar &alpha) const
ForceTpl< _Scalar, _Options >	operator+ (const ForceBase< ForceTpl< _Scalar, _Options > > &phi) const
ForceTpl< _Scalar, _Options > &	operator+= (const ForceBase< ForceTpl< _Scalar, _Options > > &phi)
	Replaces this by this + other.
ForceTpl< _Scalar, _Options >	operator- () const
ForceTpl< _Scalar, _Options > &	operator-= (const ForceBase< ForceTpl< _Scalar, _Options > > &phi)
	Replaces this by this - other.
ForcePlain	operator/ (const OtherScalar &alpha) const
ForceTpl< _Scalar, _Options > &	operator= (const ForceBase< ForceTpl< _Scalar, _Options > > &other)
	Copies the Derived Force into *this.
bool	operator== (const ForceBase< F2 > &other) const
SE3GroupAction< ForceTpl< _Scalar, _Options > >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const
	Transform from A to B coordinates the Force represented by *this such that.
SE3GroupAction< ForceTpl< _Scalar, _Options > >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
	Transform from B to A coordinates the Force represented by *this such that.
ToVectorConstReturnType	toVector () const
	Return the force as an Eigen vector.

Static Public Member Functions
static ForceTpl	Random ()
static ForceTpl	Zero ()

Protected Attributes
Vector6	m_data

Detailed Description

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

Definition at line 36 of file force-tpl.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options>

typedef ForceDense<ForceTpl> Base

Definition at line 40 of file force-tpl.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Definition at line 42 of file force-tpl.hpp.

Constructor & Destructor Documentation

◆ ForceTpl() [1/8]

template<typename _Scalar, int _Options>

ForceTpl ( )

inline

Definition at line 53 of file force-tpl.hpp.

◆ ForceTpl() [2/8]

template<typename _Scalar, int _Options>

template<typename V1, typename V2>

ForceTpl	(	const Eigen::MatrixBase< V1 > &	v,
		const Eigen::MatrixBase< V2 > &	w )

inline

Definition at line 58 of file force-tpl.hpp.

◆ ForceTpl() [3/8]

template<typename _Scalar, int _Options>

template<typename V6>

ForceTpl ( const Eigen::MatrixBase< V6 > & v )

inlineexplicit

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

◆ ForceTpl() [4/8]

template<typename _Scalar, int _Options>

ForceTpl ( const ForceTpl< _Scalar, _Options > & clone )

inline

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

◆ ForceTpl() [5/8]

template<typename _Scalar, int _Options>

template<typename S2, int O2>

ForceTpl ( const ForceTpl< S2, O2 > & other )

inlineexplicit

Definition at line 79 of file force-tpl.hpp.

◆ ForceTpl() [6/8]

template<typename _Scalar, int _Options>

template<typename F2>

ForceTpl ( const ForceBase< F2 > & clone )

inlineexplicit

Definition at line 85 of file force-tpl.hpp.

◆ ForceTpl() [7/8]

template<typename _Scalar, int _Options>

template<int O2>

ForceTpl ( const ForceTpl< Scalar, O2 > & clone )

inlineexplicit

Definition at line 97 of file force-tpl.hpp.

◆ ForceTpl() [8/8]

template<typename _Scalar, int _Options>

template<typename M2>

ForceTpl ( const ForceDense< M2 > & clone )

inlineexplicit

Definition at line 103 of file force-tpl.hpp.

Member Function Documentation

◆ angular() [1/3]

template<typename _Scalar, int _Options>

( )

Return the angular part of the force vector.

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

◆ angular() [2/3]

template<typename _Scalar, int _Options>

( ) const

Return the angular part of the force vector.

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

◆ angular() [3/3]

template<typename _Scalar, int _Options>

( const Eigen::MatrixBase< V3Like > & n )

Set the angular part of the force vector.

Template Parameters

V3Like A vector 3 like type.

Parameters

[in] n

◆ angular_impl() [1/3]

template<typename _Scalar, int _Options>

AngularType angular_impl ( )

inline

Definition at line 137 of file force-tpl.hpp.

◆ angular_impl() [2/3]

template<typename _Scalar, int _Options>

ConstAngularType angular_impl ( ) const

inline

Definition at line 129 of file force-tpl.hpp.

◆ angular_impl() [3/3]

template<typename _Scalar, int _Options>

template<typename V3>

void angular_impl ( const Eigen::MatrixBase< V3 > & w )

inline

Definition at line 147 of file force-tpl.hpp.

◆ cast()

template<typename _Scalar, int _Options>

template<typename NewScalar>

ForceTpl< NewScalar, Options > cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

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

◆ linear() [1/3]

template<typename _Scalar, int _Options>

( )

Return the linear part of the force vector.

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

◆ linear() [2/3]

template<typename _Scalar, int _Options>

( ) const

Return the linear part of the force vector.

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

◆ linear() [3/3]

template<typename _Scalar, int _Options>

( const Eigen::MatrixBase< V3Like > & f )

Set the linear part of the force vector.

Template Parameters

V3Like A vector 3 like type.

Parameters

[in] f

◆ linear_impl() [1/3]

template<typename _Scalar, int _Options>

LinearType linear_impl ( )

inline

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

◆ linear_impl() [2/3]

template<typename _Scalar, int _Options>

ConstLinearType linear_impl ( ) const

inline

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

◆ linear_impl() [3/3]

template<typename _Scalar, int _Options>

template<typename V3>

void linear_impl ( const Eigen::MatrixBase< V3 > & v )

inline

Definition at line 153 of file force-tpl.hpp.

◆ operator=() [1/5]

template<typename _Scalar, int _Options>

ForceTpl & operator= ( const Eigen::MatrixBase< V6 > & v )

inline

Definition at line 84 of file force-dense.hpp.

◆ operator=() [2/5]

template<typename _Scalar, int _Options>

( const ForceBase< ForceTpl< _Scalar, _Options > > & other )

Copies the Derived Force into *this.

Returns: a reference to *this

◆ operator=() [3/5]

template<typename _Scalar, int _Options>

ForceTpl & operator= ( const ForceDense & other )

inline

Definition at line 70 of file force-dense.hpp.

◆ operator=() [4/5]

template<typename _Scalar, int _Options>

ForceTpl & operator= ( const ForceDense< D2 > & other )

inline

Definition at line 65 of file force-dense.hpp.

◆ operator=() [5/5]

template<typename _Scalar, int _Options>

ForceTpl & operator= ( const ForceTpl< _Scalar, _Options > & clone )

inline

Definition at line 90 of file force-tpl.hpp.

◆ Random()

template<typename _Scalar, int _Options>

ForceTpl Random ( )

inlinestatic

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

◆ ref()

template<typename _Scalar, int _Options>

ForceRef< Vector6 > ref ( )

inline

Definition at line 159 of file force-tpl.hpp.

◆ toVector_impl() [1/2]

template<typename _Scalar, int _Options>

ToVectorReturnType toVector_impl ( )

inline

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

◆ toVector_impl() [2/2]

template<typename _Scalar, int _Options>

ToVectorConstReturnType toVector_impl ( ) const

inline

Definition at line 119 of file force-tpl.hpp.

◆ Zero()

template<typename _Scalar, int _Options>

ForceTpl Zero ( )

inlinestatic

Definition at line 110 of file force-tpl.hpp.

Member Data Documentation

◆ m_data

template<typename _Scalar, int _Options>

Vector6 m_data

protected

Definition at line 174 of file force-tpl.hpp.

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

include/pinocchio/context/casadi.hpp
include/pinocchio/spatial/force-tpl.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ForceTpl() [1/8]

◆ ForceTpl() [2/8]

◆ ForceTpl() [3/8]

◆ ForceTpl() [4/8]

◆ ForceTpl() [5/8]

◆ ForceTpl() [6/8]

◆ ForceTpl() [7/8]

◆ ForceTpl() [8/8]

Member Function Documentation

◆ angular() [1/3]

◆ angular() [2/3]

◆ angular() [3/3]

◆ angular_impl() [1/3]

◆ angular_impl() [2/3]

◆ angular_impl() [3/3]

◆ cast()

◆ linear() [1/3]

◆ linear() [2/3]

◆ linear() [3/3]

◆ linear_impl() [1/3]

◆ linear_impl() [2/3]

◆ linear_impl() [3/3]

◆ operator=() [1/5]

◆ operator=() [2/5]

◆ operator=() [3/5]

◆ operator=() [4/5]

◆ operator=() [5/5]

◆ Random()

◆ ref()

◆ toVector_impl() [1/2]

◆ toVector_impl() [2/2]

◆ Zero()

Member Data Documentation

◆ m_data