Inheritance diagram for InertiaTpl< _Scalar, _Options >:

Collaboration diagram for InertiaTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options }
typedef Symmetric3::AlphaSkewSquare	AlphaSkewSquare
typedef LogCholeskyParametersTpl< Scalar, Options >	LogCholeskyParameters
typedef Eigen::Matrix< Scalar, 10, 10, Options >	Matrix10
typedef PseudoInertiaTpl< Scalar, Options >	PseudoInertia
typedef Eigen::Matrix< Scalar, 10, 1, Options >	Vector10
Public Types inherited from NumericalBase< InertiaTpl< _Scalar, _Options > >
typedef traits< InertiaTpl< _Scalar, _Options > >::Scalar	Scalar

Public Member Functions
	InertiaTpl (const InertiaTpl &clone)
template<typename S2, int O2>
	InertiaTpl (const InertiaTpl< S2, O2 > &clone)
	InertiaTpl (const Matrix6 &I6)
	InertiaTpl (const Scalar &mass, const Vector3 &com, const Matrix3 &rotational_inertia)
	InertiaTpl (const Scalar &mass, const Vector3 &com, const Symmetric3 &rotational_inertia)
InertiaTpl &	__equl__ (const InertiaTpl &clone)
InertiaTpl &	__mequ__ (const InertiaTpl &Yb)
InertiaTpl	__minus__ (const InertiaTpl &Yb) const
template<typename MotionDerived>
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options >	__mult__ (const MotionDense< MotionDerived > &v) const
template<typename MotionDerived, typename ForceDerived>
void	__mult__ (const MotionDense< MotionDerived > &v, ForceDense< ForceDerived > &f) const
InertiaTpl &	__pequ__ (const InertiaTpl &Yb)
InertiaTpl	__plus__ (const InertiaTpl &Yb) const
template<typename NewScalar>
InertiaTpl< NewScalar, Options >	cast () const
void	disp_impl (std::ostream &os) const
Symmetric3 &	inertia ()
const Symmetric3 &	inertia () const
Matrix6	inverse_impl () const
template<typename Matrix6Like>
void	inverse_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const
bool	isApprox_impl (const InertiaTpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isEqual (const InertiaTpl &Y2) const
bool	isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Vector3 &	lever ()
const Vector3 &	lever () const
Scalar &	mass ()
Scalar	mass () const
Matrix6	matrix_impl () const
template<typename Matrix6Like>
void	matrix_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const
InertiaTpl &	operator= (const InertiaTpl &clone)
template<typename S2, int O2>
InertiaTpl	se3Action_impl (const SE3Tpl< S2, O2 > &M) const
	aI = aXb.act(bI)
template<typename S2, int O2>
InertiaTpl	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &M) const
	bI = aXb.actInv(aI)
void	setIdentity ()
void	setRandom ()
void	setZero ()
	SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl)
Vector10	toDynamicParameters () const
PseudoInertia	toPseudoInertia () const
	Convert the InertiaTpl object to a 4x4 pseudo inertia matrix.
template<typename MotionDerived>
Matrix6	variation (const MotionDense< MotionDerived > &v) const
template<typename MotionDerived>
Scalar	vtiv_impl (const MotionDense< MotionDerived > &v) const
template<typename MotionDerived>
Force	vxiv (const MotionDense< MotionDerived > &v) const
Public Member Functions inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
InertiaTpl< _Scalar, _Options > &	const_cast_derived () const
InertiaTpl< _Scalar, _Options > &	derived ()
void	disp (std::ostream &os) const
const Symmetric3 &	inertia () const
void	inverse (const Eigen::MatrixBase< Matrix6Like > &mat) const
bool	isApprox (const InertiaTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
const Vector3 &	lever () const
Scalar	mass () const
void	matrix (const Eigen::MatrixBase< Matrix6Like > &mat) const
	operator Matrix6 () const
bool	operator!= (const InertiaTpl< _Scalar, _Options > &other) const
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options >	operator* (const MotionDense< MotionDerived > &v) const
InertiaTpl< _Scalar, _Options >	operator+ (const InertiaTpl< _Scalar, _Options > &Yb) const
InertiaTpl< _Scalar, _Options > &	operator+= (const InertiaTpl< _Scalar, _Options > &Yb)
InertiaTpl< _Scalar, _Options >	operator- (const InertiaTpl< _Scalar, _Options > &Yb) const
InertiaTpl< _Scalar, _Options > &	operator-= (const InertiaTpl< _Scalar, _Options > &Yb)
InertiaTpl< _Scalar, _Options > &	operator= (const InertiaTpl< _Scalar, _Options > &clone)
bool	operator== (const InertiaTpl< _Scalar, _Options > &other) const
InertiaTpl< _Scalar, _Options >	se3Action (const SE3Tpl< S2, O2 > &M) const
	aI = aXb.act(bI)
InertiaTpl< _Scalar, _Options >	se3ActionInverse (const SE3Tpl< S2, O2 > &M) const
	bI = aXb.actInv(aI)
void	setIdentity ()
void	setRandom ()
void	setZero ()
	SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl< _Scalar, _Options >)
Matrix6	variation (const MotionDense< MotionDerived > &v) const
Scalar	vtiv (const MotionDense< MotionDerived > &v) const

Static Public Member Functions
static InertiaTpl	FromBox (const Scalar mass, const Scalar x, const Scalar y, const Scalar z)
	Computes the Inertia of a box defined by its mass and main dimensions (x,y,z).
static InertiaTpl	FromCapsule (const Scalar mass, const Scalar radius, const Scalar height)
	Computes the Inertia of a capsule defined by its mass, radius and length along the Z axis. Assumes a uniform density.
static InertiaTpl	FromCylinder (const Scalar mass, const Scalar radius, const Scalar length)
	Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis.
template<typename Vector10Like>
static InertiaTpl	FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > &params)
static InertiaTpl	FromEllipsoid (const Scalar mass, const Scalar x, const Scalar y, const Scalar z)
	Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z).
static InertiaTpl	FromLogCholeskyParameters (const LogCholeskyParameters &log_cholesky)
	Create an InertiaTpl object from log Cholesky parameters.
static InertiaTpl	FromPseudoInertia (const PseudoInertia &pseudo_inertia)
	Create an InertiaTpl object from a PseudoInertia object.
static InertiaTpl	FromSphere (const Scalar mass, const Scalar radius)
	Computes the Inertia of a sphere defined by its mass and its radius.
static InertiaTpl	Identity ()
template<typename MotionDerived, typename M6>
static void	ivx_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout)
static InertiaTpl	Random ()
template<typename MotionDerived, typename M6>
static void	vxi_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout)
static InertiaTpl	Zero ()
Static Public Member Functions inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
static void	ivx (const MotionDense< MotionDerived > &v, const InertiaTpl< _Scalar, _Options > &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ .
static void	vxi (const MotionDense< MotionDerived > &v, const InertiaTpl< _Scalar, _Options > &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ .

Protected Attributes
Vector3	m_com
Symmetric3	m_inertia
Scalar	m_mass

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::InertiaTpl< _Scalar, _Options >

Definition at line 265 of file inertia.hpp.

Member Typedef Documentation

◆ AlphaSkewSquare

template<typename _Scalar, int _Options>

typedef Symmetric3::AlphaSkewSquare AlphaSkewSquare

Definition at line 275 of file inertia.hpp.

◆ LogCholeskyParameters

template<typename _Scalar, int _Options>

typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters

Definition at line 279 of file inertia.hpp.

◆ Matrix10

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 10, 10, Options> Matrix10

Definition at line 277 of file inertia.hpp.

◆ PseudoInertia

template<typename _Scalar, int _Options>

typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia

Definition at line 278 of file inertia.hpp.

◆ Vector10

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 10, 1, Options> Vector10

Definition at line 276 of file inertia.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Definition at line 270 of file inertia.hpp.

Constructor & Destructor Documentation

◆ InertiaTpl() [1/6]

template<typename _Scalar, int _Options>

InertiaTpl ( )

inline

Definition at line 282 of file inertia.hpp.

◆ InertiaTpl() [2/6]

template<typename _Scalar, int _Options>

InertiaTpl	(	const Scalar &	mass,
		const Vector3 &	com,
		const Matrix3 &	rotational_inertia )

inline

Definition at line 286 of file inertia.hpp.

◆ InertiaTpl() [3/6]

template<typename _Scalar, int _Options>

InertiaTpl ( const Matrix6 & I6 )

inlineexplicit

Definition at line 293 of file inertia.hpp.

◆ InertiaTpl() [4/6]

template<typename _Scalar, int _Options>

InertiaTpl	(	const Scalar &	mass,
		const Vector3 &	com,
		const Symmetric3 &	rotational_inertia )

inline

Definition at line 309 of file inertia.hpp.

◆ InertiaTpl() [5/6]

template<typename _Scalar, int _Options>

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

inline

Definition at line 316 of file inertia.hpp.

◆ InertiaTpl() [6/6]

template<typename _Scalar, int _Options>

template<typename S2, int O2>

InertiaTpl ( const InertiaTpl< S2, O2 > & clone )

inlineexplicit

Definition at line 332 of file inertia.hpp.

Member Function Documentation

◆ equl()

template<typename _Scalar, int _Options>

InertiaTpl & __equl__ ( const InertiaTpl< _Scalar, _Options > & clone )

inline

Definition at line 612 of file inertia.hpp.

◆ mequ()

template<typename _Scalar, int _Options>

InertiaTpl & __mequ__ ( const InertiaTpl< _Scalar, _Options > & Yb )

inline

Definition at line 697 of file inertia.hpp.

◆ minus()

template<typename _Scalar, int _Options>

InertiaTpl __minus__ ( const InertiaTpl< _Scalar, _Options > & Yb ) const

inline

Definition at line 675 of file inertia.hpp.

◆ mult() [1/2]

template<typename _Scalar, int _Options>

template<typename MotionDerived>

ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options > __mult__ ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 719 of file inertia.hpp.

◆ mult() [2/2]

template<typename _Scalar, int _Options>

template<typename MotionDerived, typename ForceDerived>

void __mult__	(	const MotionDense< MotionDerived > &	v,
		ForceDense< ForceDerived > &	f ) const

inline

Definition at line 729 of file inertia.hpp.

◆ pequ()

template<typename _Scalar, int _Options>

InertiaTpl & __pequ__ ( const InertiaTpl< _Scalar, _Options > & Yb )

inline

Definition at line 659 of file inertia.hpp.

◆ plus()

template<typename _Scalar, int _Options>

InertiaTpl __plus__ ( const InertiaTpl< _Scalar, _Options > & Yb ) const

inline

Definition at line 641 of file inertia.hpp.

◆ cast()

template<typename _Scalar, int _Options>

template<typename NewScalar>

InertiaTpl< NewScalar, Options > cast ( ) const

inline

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

Definition at line 912 of file inertia.hpp.

◆ disp_impl()

template<typename _Scalar, int _Options>

void disp_impl ( std::ostream & os ) const

inline

Definition at line 902 of file inertia.hpp.

◆ FromBox()

template<typename _Scalar, int _Options>

InertiaTpl FromBox	(	const Scalar	mass,
		const Scalar	x,
		const Scalar	y,
		const Scalar	z )

inlinestatic

Computes the Inertia of a box defined by its mass and main dimensions (x,y,z).

Parameters

[in]	mass	of the box.
[in]	x	dimension along the local X axis.
[in]	y	dimension along the local Y axis.
[in]	z	dimension along the local Z axis.

Definition at line 424 of file inertia.hpp.

◆ FromCapsule()

template<typename _Scalar, int _Options>

InertiaTpl FromCapsule	(	const Scalar	mass,
		const Scalar	radius,
		const Scalar	height )

inlinestatic

Computes the Inertia of a capsule defined by its mass, radius and length along the Z axis. Assumes a uniform density.

Parameters

[in]	mass	of the capsule.
[in]	radius	of the capsule.
[in]	height	of the capsule.

Definition at line 440 of file inertia.hpp.

◆ FromCylinder()

template<typename _Scalar, int _Options>

InertiaTpl FromCylinder	(	const Scalar	mass,
		const Scalar	radius,
		const Scalar	length )

inlinestatic

Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis.

Parameters

[in]	mass	of the cylinder.
[in]	radius	of the cylinder.
[in]	length	of the cylinder.

Definition at line 407 of file inertia.hpp.

◆ FromDynamicParameters()

template<typename _Scalar, int _Options>

template<typename Vector10Like>

InertiaTpl FromDynamicParameters ( const Eigen::MatrixBase< Vector10Like > & params )

inlinestatic

Builds and inertia matrix from a vector of dynamic parameters.

Parameters

[in] params The dynamic parameters.

The parameters are given as $v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T$ where $ I = I_C + mS^T(c)S(c) $ and $ I_C $ has its origin at the barycenter.

Definition at line 562 of file inertia.hpp.

◆ FromEllipsoid()

template<typename _Scalar, int _Options>

InertiaTpl FromEllipsoid	(	const Scalar	mass,
		const Scalar	x,
		const Scalar	y,
		const Scalar	z )

inlinestatic

Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z).

Parameters

[in]	mass	of the ellipsoid.
[in]	x	semi-axis dimension along the local X axis.
[in]	y	semi-axis dimension along the local Y axis.
[in]	z	semi-axis dimension along the local Z axis.

Definition at line 390 of file inertia.hpp.

◆ FromLogCholeskyParameters()

template<typename _Scalar, int _Options>

InertiaTpl FromLogCholeskyParameters ( const LogCholeskyParameters & log_cholesky )

inlinestatic

Create an InertiaTpl object from log Cholesky parameters.

Parameters

log_cholesky A log cholesky parameters object

Returns: An InertiaTpl object.

Definition at line 605 of file inertia.hpp.

◆ FromPseudoInertia()

template<typename _Scalar, int _Options>

InertiaTpl FromPseudoInertia ( const PseudoInertia & pseudo_inertia )

inlinestatic

Create an InertiaTpl object from a PseudoInertia object.

Parameters

pseudo_inertia A PseudoInertia object.

Returns: An InertiaTpl object.

Definition at line 582 of file inertia.hpp.

◆ FromSphere()

template<typename _Scalar, int _Options>

InertiaTpl FromSphere	(	const Scalar	mass,
		const Scalar	radius )

inlinestatic

Computes the Inertia of a sphere defined by its mass and its radius.

Parameters

[in]	mass	of the sphere.
[in]	radius	of the sphere.

Definition at line 375 of file inertia.hpp.

◆ Identity()

template<typename _Scalar, int _Options>

InertiaTpl Identity ( )

inlinestatic

Definition at line 350 of file inertia.hpp.

◆ inertia() [1/2]

template<typename _Scalar, int _Options>

Symmetric3 & inertia ( )

inline

Definition at line 866 of file inertia.hpp.

◆ inertia() [2/2]

template<typename _Scalar, int _Options>

const Symmetric3 & inertia ( ) const

inline

Definition at line 853 of file inertia.hpp.

◆ inverse_impl() [1/2]

template<typename _Scalar, int _Options>

Matrix6 inverse_impl ( ) const

inline

Definition at line 528 of file inertia.hpp.

◆ inverse_impl() [2/2]

template<typename _Scalar, int _Options>

template<typename Matrix6Like>

void inverse_impl ( const Eigen::MatrixBase< Matrix6Like > & M_ ) const

inline

Definition at line 501 of file inertia.hpp.

◆ isApprox_impl()

template<typename _Scalar, int _Options>

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

inline

Definition at line 626 of file inertia.hpp.

◆ isEqual()

template<typename _Scalar, int _Options>

bool isEqual ( const InertiaTpl< _Scalar, _Options > & Y2 ) const

inline

Definition at line 621 of file inertia.hpp.

◆ isZero_impl()

template<typename _Scalar, int _Options>

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

inline

Definition at line 635 of file inertia.hpp.

◆ ivx_impl()

template<typename _Scalar, int _Options>

template<typename MotionDerived, typename M6>

void ivx_impl	(	const MotionDense< MotionDerived > &	v,
		const InertiaTpl< _Scalar, _Options > &	I,
		const Eigen::MatrixBase< M6 > &	Iout )

inlinestatic

Definition at line 813 of file inertia.hpp.

◆ lever() [1/2]

template<typename _Scalar, int _Options>

Vector3 & lever ( )

inline

Definition at line 862 of file inertia.hpp.

◆ lever() [2/2]

template<typename _Scalar, int _Options>

const Vector3 & lever ( ) const

inline

Definition at line 849 of file inertia.hpp.

◆ mass() [1/2]

template<typename _Scalar, int _Options>

Scalar & mass ( )

inline

Definition at line 858 of file inertia.hpp.

◆ mass() [2/2]

template<typename _Scalar, int _Options>

Scalar mass ( ) const

inline

Definition at line 845 of file inertia.hpp.

◆ matrix_impl() [1/2]

template<typename _Scalar, int _Options>

Matrix6 matrix_impl ( ) const

inline

Definition at line 493 of file inertia.hpp.

◆ matrix_impl() [2/2]

template<typename _Scalar, int _Options>

template<typename Matrix6Like>

void matrix_impl ( const Eigen::MatrixBase< Matrix6Like > & M_ ) const

inline

Definition at line 481 of file inertia.hpp.

◆ operator=()

template<typename _Scalar, int _Options>

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

inline

Definition at line 323 of file inertia.hpp.

◆ Random()

template<typename _Scalar, int _Options>

InertiaTpl Random ( )

inlinestatic

Definition at line 362 of file inertia.hpp.

◆ se3Action_impl()

template<typename _Scalar, int _Options>

template<typename S2, int O2>

InertiaTpl se3Action_impl ( const SE3Tpl< S2, O2 > & M ) const

inline

aI = aXb.act(bI)

Definition at line 873 of file inertia.hpp.

◆ se3ActionInverse_impl()

template<typename _Scalar, int _Options>

template<typename S2, int O2>

InertiaTpl se3ActionInverse_impl ( const SE3Tpl< S2, O2 > & M ) const

inline

bI = aXb.actInv(aI)

Definition at line 884 of file inertia.hpp.

◆ setIdentity()

template<typename _Scalar, int _Options>

void setIdentity ( )

inline

Definition at line 355 of file inertia.hpp.

◆ setRandom()

template<typename _Scalar, int _Options>

void setRandom ( )

inline

Definition at line 473 of file inertia.hpp.

◆ setZero()

template<typename _Scalar, int _Options>

void setZero ( )

inline

Definition at line 343 of file inertia.hpp.

◆ toDynamicParameters()

template<typename _Scalar, int _Options>

Vector10 toDynamicParameters ( ) const

inline

Returns the representation of the matrix as a vector of dynamic parameters. The parameters are given as $v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T$ where $ c $ is the center of mass, $ I = I_C + mS^T(c)S(c) $ and $ I_C $ has its origin at the barycenter and $ S(c) $ is the the skew matrix representation of the cross product operator.

Definition at line 542 of file inertia.hpp.

◆ toPseudoInertia()

template<typename _Scalar, int _Options>

PseudoInertia toPseudoInertia ( ) const

inline

Convert the InertiaTpl object to a 4x4 pseudo inertia matrix.

Returns: A 4x4 pseudo inertia matrix.

Definition at line 592 of file inertia.hpp.

◆ variation()

template<typename _Scalar, int _Options>

template<typename MotionDerived>

Matrix6 variation ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 750 of file inertia.hpp.

◆ vtiv_impl()

template<typename _Scalar, int _Options>

template<typename MotionDerived>

Scalar vtiv_impl ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 738 of file inertia.hpp.

◆ vxi_impl()

template<typename _Scalar, int _Options>

template<typename MotionDerived, typename M6>

void vxi_impl	(	const MotionDense< MotionDerived > &	v,
		const InertiaTpl< _Scalar, _Options > &	I,
		const Eigen::MatrixBase< M6 > &	Iout )

inlinestatic

Definition at line 779 of file inertia.hpp.

◆ vxiv()

template<typename _Scalar, int _Options>

template<typename MotionDerived>

Force vxiv ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 892 of file inertia.hpp.

◆ Zero()

template<typename _Scalar, int _Options>

InertiaTpl Zero ( )

inlinestatic

Definition at line 338 of file inertia.hpp.

Member Data Documentation

◆ m_com

template<typename _Scalar, int _Options>

Vector3 m_com

protected

Definition at line 930 of file inertia.hpp.

◆ m_inertia

template<typename _Scalar, int _Options>

Symmetric3 m_inertia

protected

Definition at line 931 of file inertia.hpp.

◆ m_mass

template<typename _Scalar, int _Options>

Scalar m_mass

protected

Definition at line 929 of file inertia.hpp.

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

include/pinocchio/context/generic.hpp
include/pinocchio/spatial/inertia.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ AlphaSkewSquare

◆ LogCholeskyParameters

◆ Matrix10

◆ PseudoInertia

◆ Vector10

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ InertiaTpl() [1/6]

◆ InertiaTpl() [2/6]

◆ InertiaTpl() [3/6]

◆ InertiaTpl() [4/6]

◆ InertiaTpl() [5/6]

◆ InertiaTpl() [6/6]

Member Function Documentation

◆ __equl__()

◆ __mequ__()

◆ __minus__()

◆ __mult__() [1/2]

◆ __mult__() [2/2]

◆ __pequ__()

◆ __plus__()

◆ cast()

◆ disp_impl()

◆ FromBox()

◆ FromCapsule()

◆ FromCylinder()

◆ FromDynamicParameters()

◆ FromEllipsoid()

◆ FromLogCholeskyParameters()

◆ FromPseudoInertia()

◆ FromSphere()

◆ Identity()

◆ inertia() [1/2]

◆ inertia() [2/2]

◆ inverse_impl() [1/2]

◆ inverse_impl() [2/2]

◆ isApprox_impl()

◆ isEqual()

◆ isZero_impl()

◆ ivx_impl()

◆ lever() [1/2]

◆ lever() [2/2]

◆ mass() [1/2]

◆ mass() [2/2]

◆ matrix_impl() [1/2]

◆ matrix_impl() [2/2]

◆ operator=()

◆ Random()

◆ se3Action_impl()

◆ se3ActionInverse_impl()

◆ setIdentity()

◆ setRandom()

◆ setZero()

◆ toDynamicParameters()

◆ toPseudoInertia()

◆ variation()

◆ vtiv_impl()

◆ vxi_impl()

◆ vxiv()

◆ Zero()

Member Data Documentation

◆ m_com

◆ m_inertia

◆ m_mass

◆ equl()

◆ mequ()

◆ minus()

◆ mult() [1/2]

◆ mult() [2/2]

◆ pequ()

◆ plus()