pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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MotionZeroTpl< Scalar, Options > Struct Template Reference
Spatial
Inheritance diagram for MotionZeroTpl< Scalar, Options >:
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Collaboration diagram for MotionZeroTpl< Scalar, Options >:
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Public Types

typedef traits< MotionZeroTpl >::MotionPlain MotionPlain
typedef traits< MotionZeroTpl >::PlainReturnType PlainReturnType

Public Member Functions

template<typename M1>
MotionZeroTpl motionAction (const MotionBase< M1 > &) const
template<typename S2, int O2>
MotionZeroTpl se3Action_impl (const SE3Tpl< S2, O2 > &) const
template<typename S2, int O2, typename D2>
void se3Action_impl (const SE3Tpl< S2, O2 > &, MotionDense< D2 > &v) const
template<typename S2, int O2>
MotionZeroTpl se3ActionInverse_impl (const SE3Tpl< S2, O2 > &) const
template<typename S2, int O2, typename D2>
void se3ActionInverse_impl (const SE3Tpl< S2, O2 > &, MotionDense< D2 > &v) const
Public Member Functions inherited from MotionBase< MotionZeroTpl< Scalar, Options > >
ConstAngularType angular () const
MotionZeroTpl< Scalar, Options > & const_cast_derived () const
MotionAlgebraAction< OtherSpatialType, MotionZeroTpl< Scalar, Options > >::ReturnType cross (const OtherSpatialType &d) const
MotionZeroTpl< Scalar, Options > & derived ()
void disp (std::ostream &os) const
Scalar dot (const ForceDense< ForceDerived > &f) const
bool isApprox (const MotionZeroTpl< 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
 MOTION_TYPEDEF_TPL (MotionZeroTpl< Scalar, Options >)
 operator Matrix6 () const
 operator PlainReturnType () const
 operator Vector6 () const
bool operator!= (const MotionBase< M2 > &other) const
internal::RHSScalarMultiplication< MotionZeroTpl< Scalar, Options >, OtherScalar >::ReturnType operator* (const OtherScalar &alpha) const
MotionZeroTpl< Scalar, Options > operator+ (const MotionBase< MotionZeroTpl< Scalar, Options > > &v) const
MotionZeroTpl< Scalar, Options > & operator+= (const MotionBase< MotionZeroTpl< Scalar, Options > > &v)
MotionZeroTpl< Scalar, Options > operator- () const
MotionZeroTpl< Scalar, Options > & operator-= (const MotionBase< MotionZeroTpl< Scalar, Options > > &v)
MotionZeroTpl< Scalar, Options > operator/ (const OtherScalar &alpha) const
bool operator== (const MotionBase< M2 > &other) const
PlainReturnType plain () const
SE3GroupAction< MotionZeroTpl< Scalar, Options > >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
SE3GroupAction< MotionZeroTpl< Scalar, Options > >::ReturnType se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
void setZero ()
ActionMatrixType toActionMatrix () const
ActionMatrixType toDualActionMatrix () const
HomogeneousMatrixType toHomogeneousMatrix () const
 The homogeneous representation of the motion vector $ \xi $.
ToVectorConstReturnType toVector () const

Static Public Member Functions

template<typename D2>
static void addTo (const MotionBase< D2 > &)
template<typename D2>
static bool isEqual_impl (const MotionDense< D2 > &other)
static bool isEqual_impl (const MotionZeroTpl &)
static PlainReturnType plain ()
template<typename D2>
static void setTo (MotionBase< D2 > &other)

Detailed Description

template<typename Scalar, int Options>
struct pinocchio::MotionZeroTpl< Scalar, Options >

Definition at line 53 of file motion-zero.hpp.

Member Typedef Documentation

◆ MotionPlain

template<typename Scalar, int Options>
typedef traits<MotionZeroTpl>::MotionPlain MotionPlain

Definition at line 55 of file motion-zero.hpp.

◆ PlainReturnType

template<typename Scalar, int Options>
typedef traits<MotionZeroTpl>::PlainReturnType PlainReturnType

Definition at line 56 of file motion-zero.hpp.

Member Function Documentation

◆ addTo()

template<typename Scalar, int Options>
template<typename D2>
void addTo(const MotionBase< D2 > &)
inlinestatic

Definition at line 75 of file motion-zero.hpp.

◆ isEqual_impl() [1/2]

template<typename Scalar, int Options>
template<typename D2>
bool isEqual_impl(const MotionDense< D2 > &other)
inlinestatic

Definition at line 64 of file motion-zero.hpp.

◆ isEqual_impl() [2/2]

template<typename Scalar, int Options>
bool isEqual_impl(const MotionZeroTpl< Scalar, Options > &)
inlinestatic

Definition at line 69 of file motion-zero.hpp.

◆ motionAction()

template<typename Scalar, int Options>
template<typename M1>
MotionZeroTpl motionAction(const MotionBase< M1 > &)const
inline

Definition at line 86 of file motion-zero.hpp.

◆ plain()

template<typename Scalar, int Options>
PlainReturnType plain()
inlinestatic

Definition at line 58 of file motion-zero.hpp.

◆ se3Action_impl() [1/2]

template<typename Scalar, int Options>
template<typename S2, int O2>
MotionZeroTpl se3Action_impl(const SE3Tpl< S2, O2 > &)const
inline

Definition at line 98 of file motion-zero.hpp.

◆ se3Action_impl() [2/2]

template<typename Scalar, int Options>
template<typename S2, int O2, typename D2>
void se3Action_impl(const SE3Tpl< S2, O2 > &,
MotionDense< D2 > &v ) const
inline

Definition at line 92 of file motion-zero.hpp.

◆ se3ActionInverse_impl() [1/2]

template<typename Scalar, int Options>
template<typename S2, int O2>
MotionZeroTpl se3ActionInverse_impl(const SE3Tpl< S2, O2 > &)const
inline

Definition at line 110 of file motion-zero.hpp.

◆ se3ActionInverse_impl() [2/2]

template<typename Scalar, int Options>
template<typename S2, int O2, typename D2>
void se3ActionInverse_impl(const SE3Tpl< S2, O2 > &,
MotionDense< D2 > &v ) const
inline

Definition at line 104 of file motion-zero.hpp.

◆ setTo()

template<typename Scalar, int Options>
template<typename D2>
void setTo(MotionBase< D2 > &other)
inlinestatic

Definition at line 80 of file motion-zero.hpp.

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