Inheritance diagram for Symmetric3Tpl< _Scalar, _Options >:

Collaboration diagram for Symmetric3Tpl< _Scalar, _Options >:

Classes
struct	AlphaSkewSquare
struct	SkewSquare

Public Types
enum	{ Options = _Options }
typedef Eigen::Matrix< Scalar, 2, 2, Options >	Matrix2
typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3
typedef Eigen::Matrix< Scalar, 3, 2, Options >	Matrix32
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3
typedef Eigen::Matrix< Scalar, 6, 1, Options >	Vector6
Public Types inherited from NumericalBase< Symmetric3Tpl< _Scalar, _Options > >
typedef traits< Symmetric3Tpl< _Scalar, _Options > >::Scalar	Scalar

Public Member Functions
template<typename Sc, int Opt>
	Symmetric3Tpl (const Eigen::Matrix< Sc, 3, 3, Opt > &I)
	Symmetric3Tpl (const Scalar &a0, const Scalar &a1, const Scalar &a2, const Scalar &a3, const Scalar &a4, const Scalar &a5)
	Symmetric3Tpl (const Symmetric3Tpl &other)
template<typename S2, int O2>
	Symmetric3Tpl (const Symmetric3Tpl< S2, O2 > &other)
	Symmetric3Tpl (const Vector6 &I)
template<typename NewScalar>
Symmetric3Tpl< NewScalar, Options >	cast () const
Vector6 &	data ()
const Vector6 &	data () const
Matrix32	decomposeltI () const
	Computes L for a symmetric matrix A.
void	fill (const Scalar value)
Matrix3	inverse () const
template<typename Matrix3Like>
void	inverse (const Eigen::MatrixBase< Matrix3Like > &res_) const
bool	isApprox (const Symmetric3Tpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Matrix3	matrix () const
	operator Matrix3 () const
bool	operator!= (const Symmetric3Tpl &other) const
const Scalar &	operator() (const int i, const int j) const
template<typename V3>
Vector3	operator* (const Eigen::MatrixBase< V3 > &v) const
Symmetric3Tpl &	operator*= (const Scalar s)
template<typename Matrix3Like>
Symmetric3Tpl	operator+ (const Eigen::MatrixBase< Matrix3Like > &S) const
Symmetric3Tpl	operator+ (const Symmetric3Tpl &s2) const
Symmetric3Tpl &	operator+= (const Symmetric3Tpl &s2)
Symmetric3Tpl	operator- (const AlphaSkewSquare &v) const
template<typename Matrix3Like>
Symmetric3Tpl	operator- (const Eigen::MatrixBase< Matrix3Like > &S) const
Symmetric3Tpl	operator- (const SkewSquare &v) const
Symmetric3Tpl	operator- (const Symmetric3Tpl &s2) const
Symmetric3Tpl &	operator-= (const AlphaSkewSquare &v)
Symmetric3Tpl &	operator-= (const SkewSquare &v)
Symmetric3Tpl &	operator-= (const Symmetric3Tpl &s2)
Symmetric3Tpl &	operator= (const Symmetric3Tpl &clone)
	Copy assignment operator.
bool	operator== (const Symmetric3Tpl &other) const
template<typename D>
Symmetric3Tpl	rotate (const Eigen::MatrixBase< D > &R) const
template<typename Vector3Like>
void	setDiagonal (const Eigen::MatrixBase< Vector3Like > &diag)
void	setIdentity ()
void	setRandom ()
void	setZero ()
template<typename Vector3>
Matrix3	svx (const Eigen::MatrixBase< Vector3 > &v) const
	Performs the operation $M = S_{3} [v]_{\times}$ .
Scalar	vtiv (const Vector3 &v) const
template<typename Vector3>
Matrix3	vxs (const Eigen::MatrixBase< Vector3 > &v) const
	Performs the operation $[v]_{\times} S$ . This operation is equivalent to applying the cross product of v on each column of S.

Static Public Member Functions
static Symmetric3Tpl	Identity ()
static Symmetric3Tpl	Random ()
static Symmetric3Tpl	RandomPositive ()
template<typename V3in, typename V3out>
static void	rhsMult (const Symmetric3Tpl &S3, const Eigen::MatrixBase< V3in > &vin, const Eigen::MatrixBase< V3out > &vout)
template<typename Vector3, typename Matrix3>
static void	svx (const Eigen::MatrixBase< Vector3 > &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase< Matrix3 > &M)
	Performs the operation $M = S_{3} [v]_{\times}$ .
template<typename Vector3, typename Matrix3>
static void	vxs (const Eigen::MatrixBase< Vector3 > &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase< Matrix3 > &M)
	Performs the operation $M = [v]_{\times} S_{3}$ . This operation is equivalent to applying the cross product of v on each column of S.
static Symmetric3Tpl	Zero ()

Protected Attributes
Vector6	m_data

Friends
AlphaSkewSquare	operator* (const Scalar &m, const SkewSquare &sk)
std::ostream &	operator<< (std::ostream &os, const Symmetric3Tpl< Scalar, Options > &S3)

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::Symmetric3Tpl< _Scalar, _Options >

Definition at line 21 of file symmetric3.hpp.

Member Typedef Documentation

◆ Matrix2

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 2, 2, Options> Matrix2

Definition at line 32 of file symmetric3.hpp.

◆ Matrix3

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3

Definition at line 31 of file symmetric3.hpp.

◆ Matrix32

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 3, 2, Options> Matrix32

Definition at line 33 of file symmetric3.hpp.

◆ Scalar

template<typename _Scalar, int _Options>

typedef _Scalar Scalar

Definition at line 24 of file symmetric3.hpp.

◆ Vector3

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3

Definition at line 29 of file symmetric3.hpp.

◆ Vector6

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6

Definition at line 30 of file symmetric3.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Definition at line 25 of file symmetric3.hpp.

Constructor & Destructor Documentation

◆ Symmetric3Tpl() [1/6]

template<typename _Scalar, int _Options>

Symmetric3Tpl ( )

inline

Definition at line 38 of file symmetric3.hpp.

◆ Symmetric3Tpl() [2/6]

template<typename _Scalar, int _Options>

template<typename Sc, int Opt>

Symmetric3Tpl ( const Eigen::Matrix< Sc, 3, 3, Opt > & I )

inlineexplicit

Definition at line 43 of file symmetric3.hpp.

◆ Symmetric3Tpl() [3/6]

template<typename _Scalar, int _Options>

Symmetric3Tpl ( const Vector6 & I )

inlineexplicit

Definition at line 54 of file symmetric3.hpp.

◆ Symmetric3Tpl() [4/6]

template<typename _Scalar, int _Options>

Symmetric3Tpl ( const Symmetric3Tpl< _Scalar, _Options > & other )

inline

Definition at line 59 of file symmetric3.hpp.

◆ Symmetric3Tpl() [5/6]

template<typename _Scalar, int _Options>

template<typename S2, int O2>

Symmetric3Tpl ( const Symmetric3Tpl< S2, O2 > & other )

inlineexplicit

Definition at line 65 of file symmetric3.hpp.

◆ Symmetric3Tpl() [6/6]

template<typename _Scalar, int _Options>

Symmetric3Tpl	(	const Scalar &	a0,
		const Scalar &	a1,
		const Scalar &	a2,
		const Scalar &	a3,
		const Scalar &	a4,
		const Scalar &	a5 )

inline

Definition at line 81 of file symmetric3.hpp.

Member Function Documentation

◆ cast()

template<typename _Scalar, int _Options>

template<typename NewScalar>

Symmetric3Tpl< NewScalar, Options > cast ( ) const

inline

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

Definition at line 605 of file symmetric3.hpp.

◆ data() [1/2]

template<typename _Scalar, int _Options>

Vector6 & data ( )

inline

Definition at line 277 of file symmetric3.hpp.

◆ data() [2/2]

template<typename _Scalar, int _Options>

const Vector6 & data ( ) const

inline

Definition at line 273 of file symmetric3.hpp.

◆ decomposeltI()

template<typename _Scalar, int _Options>

Matrix32 decomposeltI ( ) const

inline

Computes L for a symmetric matrix A.

Definition at line 552 of file symmetric3.hpp.

◆ fill()

template<typename _Scalar, int _Options>

void fill ( const Scalar value )

inline

Definition at line 158 of file symmetric3.hpp.

◆ Identity()

template<typename _Scalar, int _Options>

Symmetric3Tpl Identity ( )

inlinestatic

Definition at line 117 of file symmetric3.hpp.

◆ inverse() [1/2]

template<typename _Scalar, int _Options>

Matrix3 inverse ( ) const

inline

Definition at line 181 of file symmetric3.hpp.

◆ inverse() [2/2]

template<typename _Scalar, int _Options>

template<typename Matrix3Like>

void inverse ( const Eigen::MatrixBase< Matrix3Like > & res_ ) const

inline

Definition at line 164 of file symmetric3.hpp.

◆ isApprox()

template<typename _Scalar, int _Options>

bool isApprox	(	const Symmetric3Tpl< _Scalar, _Options > &	other,
		const Scalar &	prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 146 of file symmetric3.hpp.

◆ isZero()

template<typename _Scalar, int _Options>

bool isZero ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 153 of file symmetric3.hpp.

◆ matrix()

template<typename _Scalar, int _Options>

Matrix3 matrix ( ) const

inline

Definition at line 304 of file symmetric3.hpp.

◆ operator Matrix3()

template<typename _Scalar, int _Options>

operator Matrix3 ( ) const

inline

Definition at line 318 of file symmetric3.hpp.

◆ operator!=()

template<typename _Scalar, int _Options>

bool operator!= ( const Symmetric3Tpl< _Scalar, _Options > & other ) const

inline

Definition at line 141 of file symmetric3.hpp.

◆ operator()()

template<typename _Scalar, int _Options>

const Scalar & operator()	(	const int	i,
		const int	j ) const

inline

Definition at line 525 of file symmetric3.hpp.

◆ operator*()

template<typename _Scalar, int _Options>

template<typename V3>

Vector3 operator* ( const Eigen::MatrixBase< V3 > & v ) const

inline

Definition at line 506 of file symmetric3.hpp.

◆ operator*=()

template<typename _Scalar, int _Options>

Symmetric3Tpl & operator*= ( const Scalar s )

inline

Definition at line 483 of file symmetric3.hpp.

◆ operator+() [1/2]

template<typename _Scalar, int _Options>

template<typename Matrix3Like>

Symmetric3Tpl operator+ ( const Eigen::MatrixBase< Matrix3Like > & S ) const

inline

Definition at line 540 of file symmetric3.hpp.

◆ operator+() [2/2]

template<typename _Scalar, int _Options>

Symmetric3Tpl operator+ ( const Symmetric3Tpl< _Scalar, _Options > & s2 ) const

inline

Definition at line 461 of file symmetric3.hpp.

◆ operator+=()

template<typename _Scalar, int _Options>

Symmetric3Tpl & operator+= ( const Symmetric3Tpl< _Scalar, _Options > & s2 )

inline

Definition at line 471 of file symmetric3.hpp.

◆ operator-() [1/4]

template<typename _Scalar, int _Options>

Symmetric3Tpl operator- ( const AlphaSkewSquare & v ) const

inline

Definition at line 252 of file symmetric3.hpp.

◆ operator-() [2/4]

template<typename _Scalar, int _Options>

template<typename Matrix3Like>

Symmetric3Tpl operator- ( const Eigen::MatrixBase< Matrix3Like > & S ) const

inline

Definition at line 531 of file symmetric3.hpp.

◆ operator-() [3/4]

template<typename _Scalar, int _Options>

Symmetric3Tpl operator- ( const SkewSquare & v ) const

inline

Definition at line 202 of file symmetric3.hpp.

◆ operator-() [4/4]

template<typename _Scalar, int _Options>

Symmetric3Tpl operator- ( const Symmetric3Tpl< _Scalar, _Options > & s2 ) const

inline

Definition at line 466 of file symmetric3.hpp.

◆ operator-=() [1/3]

template<typename _Scalar, int _Options>

Symmetric3Tpl & operator-= ( const AlphaSkewSquare & v )

inline

Definition at line 261 of file symmetric3.hpp.

◆ operator-=() [2/3]

template<typename _Scalar, int _Options>

Symmetric3Tpl & operator-= ( const SkewSquare & v )

inline

Definition at line 210 of file symmetric3.hpp.

◆ operator-=() [3/3]

template<typename _Scalar, int _Options>

Symmetric3Tpl & operator-= ( const Symmetric3Tpl< _Scalar, _Options > & s2 )

inline

Definition at line 477 of file symmetric3.hpp.

◆ operator=()

template<typename _Scalar, int _Options>

Symmetric3Tpl & operator= ( const Symmetric3Tpl< _Scalar, _Options > & clone )

inline

Copy assignment operator.

Parameters

[in] other Symmetric3 to copy

Definition at line 75 of file symmetric3.hpp.

◆ operator==()

template<typename _Scalar, int _Options>

bool operator== ( const Symmetric3Tpl< _Scalar, _Options > & other ) const

inline

Definition at line 136 of file symmetric3.hpp.

◆ Random()

template<typename _Scalar, int _Options>

Symmetric3Tpl Random ( )

inlinestatic

Definition at line 101 of file symmetric3.hpp.

◆ RandomPositive()

template<typename _Scalar, int _Options>

Symmetric3Tpl RandomPositive ( )

inlinestatic

Definition at line 291 of file symmetric3.hpp.

◆ rhsMult()

template<typename _Scalar, int _Options>

template<typename V3in, typename V3out>

void rhsMult	(	const Symmetric3Tpl< _Scalar, _Options > &	S3,
		const Eigen::MatrixBase< V3in > &	vin,
		const Eigen::MatrixBase< V3out > &	vout )

inlinestatic

Definition at line 490 of file symmetric3.hpp.

◆ rotate()

template<typename _Scalar, int _Options>

template<typename D>

Symmetric3Tpl rotate ( const Eigen::MatrixBase< D > & R ) const

inline

Definition at line 562 of file symmetric3.hpp.

◆ setDiagonal()

template<typename _Scalar, int _Options>

template<typename Vector3Like>

void setDiagonal ( const Eigen::MatrixBase< Vector3Like > & diag )

inline

Definition at line 127 of file symmetric3.hpp.

◆ setIdentity()

template<typename _Scalar, int _Options>

void setIdentity ( )

inline

Definition at line 121 of file symmetric3.hpp.

◆ setRandom()

template<typename _Scalar, int _Options>

void setRandom ( )

inline

Definition at line 105 of file symmetric3.hpp.

◆ setZero()

template<typename _Scalar, int _Options>

void setZero ( )

inline

Definition at line 96 of file symmetric3.hpp.

◆ svx() [1/2]

template<typename _Scalar, int _Options>

template<typename Vector3>

Matrix3 svx ( const Eigen::MatrixBase< Vector3 > & v ) const

inline

Performs the operation $M = S_{3} [v]_{\times}$ .

Template Parameters

Vector3

Parameters

[in] v a vector of dimension 3.

Returns: the result $S [v]_{\times}$ .

Definition at line 454 of file symmetric3.hpp.

◆ svx() [2/2]

template<typename _Scalar, int _Options>

template<typename Vector3, typename Matrix3>

void svx	(	const Eigen::MatrixBase< Vector3 > &	v,
		const Symmetric3Tpl< _Scalar, _Options > &	S3,
		const Eigen::MatrixBase< Matrix3 > &	M )

inlinestatic

Performs the operation $M = S_{3} [v]_{\times}$ .

Template Parameters

Vector3,Matrix3

Parameters

[in]	v	a vector of dimension 3.
[in]	S3	a symmetric matrix of dimension 3x3.
[out]	M	an output matrix of dimension 3x3.

Definition at line 412 of file symmetric3.hpp.

◆ vtiv()

template<typename _Scalar, int _Options>

Scalar vtiv ( const Vector3 & v ) const

inline

Definition at line 323 of file symmetric3.hpp.

◆ vxs() [1/2]

template<typename _Scalar, int _Options>

template<typename Vector3>

Matrix3 vxs ( const Eigen::MatrixBase< Vector3 > & v ) const

inline

Performs the operation $[v]_{\times} S$ . This operation is equivalent to applying the cross product of v on each column of S.

Template Parameters

Vector3

Parameters

[in] v a vector of dimension 3.

Returns: the result $[v]_{\times} S$ .

Definition at line 395 of file symmetric3.hpp.

◆ vxs() [2/2]

template<typename _Scalar, int _Options>

template<typename Vector3, typename Matrix3>

void vxs	(	const Eigen::MatrixBase< Vector3 > &	v,
		const Symmetric3Tpl< _Scalar, _Options > &	S3,
		const Eigen::MatrixBase< Matrix3 > &	M )

inlinestatic

Performs the operation $M = [v]_{\times} S_{3}$ . This operation is equivalent to applying the cross product of v on each column of S.

Template Parameters

Vector3,Matrix3

Parameters

[in]	v	a vector of dimension 3.
[in]	S3	a symmetric matrix of dimension 3x3.
[out]	M	an output matrix of dimension 3x3.

Definition at line 351 of file symmetric3.hpp.

◆ Zero()

template<typename _Scalar, int _Options>

Symmetric3Tpl Zero ( )

inlinestatic

Definition at line 92 of file symmetric3.hpp.

◆ operator*

template<typename _Scalar, int _Options>

AlphaSkewSquare operator*	(	const Scalar &	m,
		const SkewSquare &	sk )

friend

Definition at line 247 of file symmetric3.hpp.

◆ operator<<

template<typename _Scalar, int _Options>

std::ostream & operator<<	(	std::ostream &	os,
		const Symmetric3Tpl< Scalar, Options > &	S3 )

friend

Definition at line 610 of file symmetric3.hpp.

Member Data Documentation

◆ m_data

template<typename _Scalar, int _Options>

Vector6 m_data

protected

Definition at line 626 of file symmetric3.hpp.

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

include/pinocchio/spatial/fwd.hpp
include/pinocchio/spatial/symmetric3.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Matrix2

◆ Matrix3

◆ Matrix32

◆ Scalar

◆ Vector3

◆ Vector6

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Symmetric3Tpl() [1/6]

◆ Symmetric3Tpl() [2/6]

◆ Symmetric3Tpl() [3/6]

◆ Symmetric3Tpl() [4/6]

◆ Symmetric3Tpl() [5/6]

◆ Symmetric3Tpl() [6/6]

Member Function Documentation

◆ cast()

◆ data() [1/2]

◆ data() [2/2]

◆ decomposeltI()

◆ fill()

◆ Identity()

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ isApprox()

◆ isZero()

◆ matrix()

◆ operator Matrix3()

◆ operator!=()

◆ operator()()

◆ operator*()

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=()

◆ operator-() [1/4]

◆ operator-() [2/4]

◆ operator-() [3/4]

◆ operator-() [4/4]

◆ operator-=() [1/3]

◆ operator-=() [2/3]

◆ operator-=() [3/3]

◆ operator=()

◆ operator==()

◆ Random()

◆ RandomPositive()

◆ rhsMult()

◆ rotate()

◆ setDiagonal()

◆ setIdentity()

◆ setRandom()

◆ setZero()

◆ svx() [1/2]

◆ svx() [2/2]

◆ vtiv()

◆ vxs() [1/2]

◆ vxs() [2/2]

◆ Zero()

Friends And Related Symbol Documentation

◆ operator*

◆ operator<<

Member Data Documentation

◆ m_data