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

A structure representing a pseudo inertia matrix. More...

#include <pinocchio/spatial/inertia.hpp>

Public Types

enum  { Options = _Options }
typedef LogCholeskyParametersTpl< Scalar, Options > LogCholeskyParameters
typedef Eigen::Matrix< Scalar, 3, 3, Options > Matrix3
typedef Eigen::Matrix< Scalar, 4, 4, Options > Matrix4
typedef _Scalar Scalar
typedef Eigen::Matrix< Scalar, 10, 1, Options > Vector10
typedef Eigen::Matrix< Scalar, 3, 1, Options > Vector3

Public Member Functions

 PseudoInertiaTpl (Scalar mass, const Vector3 &h, const Matrix3 &sigma)
template<typename NewScalar>
PseudoInertiaTpl< NewScalar, Options > cast () const
void disp_impl (std::ostream &os) const
Vector10 toDynamicParameters () const
 Converts the PseudoInertiaTpl object to dynamic parameters.
InertiaTpl< Scalar, Options > toInertia () const
 Converts the PseudoInertiaTpl object to an InertiaTpl object.
Matrix4 toMatrix () const
 Converts the PseudoInertiaTpl object to a 4x4 matrix.

Static Public Member Functions

template<typename Vector10Like>
static PseudoInertiaTpl FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > &dynamic_params)
 Constructs a PseudoInertiaTpl object from dynamic parameters.
static PseudoInertiaTpl FromInertia (const InertiaTpl< Scalar, Options > &inertia)
 Constructs a PseudoInertiaTpl object from an InertiaTpl object.
static PseudoInertiaTpl FromLogCholeskyParameters (const LogCholeskyParameters &log_cholesky)
 Constructs a PseudoInertiaTpl object from log Cholesky parameters.
static PseudoInertiaTpl FromMatrix (const Matrix4 &pseudo_inertia)
 Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix.

Public Attributes

Vector3 h
 Vector part of the pseudo inertia.
Scalar mass
 Mass of the pseudo inertia.
Matrix3 sigma
 3x3 matrix part of the pseudo inertia

Friends

std::ostream & operator<< (std::ostream &os, const PseudoInertiaTpl &pi)

Detailed Description

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

A structure representing a pseudo inertia matrix.

References:

  • Wensing, Patrick M., Sangbae Kim, and Jean-Jacques E. Slotine. "Linear matrix inequalities for physically consistent inertial parameter identification: A statistical perspective on the mass distribution." IEEE Robotics and Automation Letters 3.1 (2017): 60-67.

Definition at line 944 of file inertia.hpp.

Member Typedef Documentation

◆ LogCholeskyParameters

template<typename _Scalar, int _Options>
typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters

Definition at line 955 of file inertia.hpp.

◆ Matrix3

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

Definition at line 953 of file inertia.hpp.

◆ Matrix4

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 4, 4, Options> Matrix4

Definition at line 951 of file inertia.hpp.

◆ Scalar

template<typename _Scalar, int _Options>
typedef _Scalar Scalar

Definition at line 946 of file inertia.hpp.

◆ Vector10

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 10, 1, Options> Vector10

Definition at line 954 of file inertia.hpp.

◆ Vector3

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

Definition at line 952 of file inertia.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>
anonymous enum

Definition at line 947 of file inertia.hpp.

Constructor & Destructor Documentation

◆ PseudoInertiaTpl()

template<typename _Scalar, int _Options>
PseudoInertiaTpl(Scalarmass,
const Vector3 &h,
const Matrix3 &sigma )
inline

Definition at line 961 of file inertia.hpp.

Member Function Documentation

◆ cast()

template<typename _Scalar, int _Options>
template<typename NewScalar>
PseudoInertiaTpl< NewScalar, Options > cast()const
inline
Returns
An expression of *this with the Scalar type casted to NewScalar.

Definition at line 1073 of file inertia.hpp.

◆ disp_impl()

template<typename _Scalar, int _Options>
void disp_impl(std::ostream &os)const
inline

Definition at line 1080 of file inertia.hpp.

◆ FromDynamicParameters()

template<typename _Scalar, int _Options>
template<typename Vector10Like>
PseudoInertiaTpl FromDynamicParameters(const Eigen::MatrixBase< Vector10Like > &dynamic_params)
inlinestatic

Constructs a PseudoInertiaTpl object from dynamic parameters.

Parameters
dynamic_paramsA 10-dimensional vector of dynamic parameters.
Returns
A PseudoInertiaTpl object.

Definition at line 1002 of file inertia.hpp.

◆ FromInertia()

template<typename _Scalar, int _Options>
PseudoInertiaTpl FromInertia(const InertiaTpl< Scalar, Options > &inertia)
inlinestatic

Constructs a PseudoInertiaTpl object from an InertiaTpl object.

Parameters
inertiaAn InertiaTpl object.
Returns
A PseudoInertiaTpl object.

Definition at line 1044 of file inertia.hpp.

◆ FromLogCholeskyParameters()

template<typename _Scalar, int _Options>
PseudoInertiaTpl FromLogCholeskyParameters(const LogCholeskyParameters &log_cholesky)
inlinestatic

Constructs a PseudoInertiaTpl object from log Cholesky parameters.

Parameters
log_choleskyA 10-dimensional vector of log Cholesky parameters.
Returns
A PseudoInertiaTpl object.

Definition at line 1065 of file inertia.hpp.

◆ FromMatrix()

template<typename _Scalar, int _Options>
PseudoInertiaTpl FromMatrix(const Matrix4 &pseudo_inertia)
inlinestatic

Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix.

Parameters
pseudo_inertiaA 4x4 pseudo inertia matrix.
Returns
A PseudoInertiaTpl object.

Definition at line 987 of file inertia.hpp.

◆ toDynamicParameters()

template<typename _Scalar, int _Options>
Vector10 toDynamicParameters()const
inline

Converts the PseudoInertiaTpl object to dynamic parameters.

Returns
A 10-dimensional vector of dynamic parameters.

Definition at line 1022 of file inertia.hpp.

◆ toInertia()

template<typename _Scalar, int _Options>
InertiaTpl< Scalar, Options > toInertia()const
inline

Converts the PseudoInertiaTpl object to an InertiaTpl object.

Returns
An InertiaTpl object.

Definition at line 1054 of file inertia.hpp.

◆ toMatrix()

template<typename _Scalar, int _Options>
Matrix4 toMatrix()const
inline

Converts the PseudoInertiaTpl object to a 4x4 matrix.

Returns
A 4x4 pseudo inertia matrix.

Definition at line 972 of file inertia.hpp.

◆ operator<<

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

Definition at line 1088 of file inertia.hpp.

Member Data Documentation

◆ h

template<typename _Scalar, int _Options>
Vector3 h

Vector part of the pseudo inertia.

Definition at line 958 of file inertia.hpp.

◆ mass

template<typename _Scalar, int _Options>
Scalar mass

Mass of the pseudo inertia.

Definition at line 957 of file inertia.hpp.

◆ sigma

template<typename _Scalar, int _Options>
Matrix3 sigma

3x3 matrix part of the pseudo inertia

Definition at line 959 of file inertia.hpp.

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