pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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Public Types | Public Member Functions | Protected Attributes | List of all members
ForceRef< Vector6ArgType > Class Template Reference
Spatial
Inheritance diagram for ForceRef< Vector6ArgType >:
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Collaboration diagram for ForceRef< Vector6ArgType >:
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Public Types

typedef ForceDense< ForceRef > Base
 
typedef traits< ForceRef >::DataRefType DataRefType
 
- Public Types inherited from ForceDense< ForceRef< Vector6ArgType > >
typedef ForceBase< ForceRef< Vector6ArgType > > Base
 
typedef traits< ForceRef< Vector6ArgType > >::ForceRefType ForceRefType
 

Public Member Functions

 ForceRef (const ForceRef &other)
 Copy constructor from another ForceRef.
 
 ForceRef (typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) f_like)
 Default constructor from a 6 dimensional vector.
 
AngularType angular_impl ()
 
ConstAngularType angular_impl () const
 
template<typename V3 >
void angular_impl (const Eigen::MatrixBase< V3 > &w)
 
 FORCE_TYPEDEF_TPL (ForceRef)
 
LinearType linear_impl ()
 
ConstLinearType linear_impl () const
 
template<typename V3 >
void linear_impl (const Eigen::MatrixBase< V3 > &v)
 
template<typename V6 >
Derived & operator= (const Eigen::MatrixBase< V6 > &v)
 
Derived & operator= (const ForceBase< Derived > &other)
 Copies the Derived Force into *this.
 
Derived & operator= (const ForceDense &other)
 
template<typename D2 >
Derived & operator= (const ForceDense< D2 > &other)
 
ForceRef & ref ()
 
ToVectorReturnType toVector_impl ()
 
ToVectorConstReturnType toVector_impl () const
 
- Public Member Functions inherited from ForceDense< ForceRef< Vector6ArgType > >
ForcePlain __div__ (const OtherScalar &alpha) const
 
ForceRef< Vector6ArgType > & __mequ__ (const ForceDense< M1 > &v)
 
ForcePlain __minus__ (const ForceDense< M1 > &v) const
 
ForcePlain __mult__ (const OtherScalar &alpha) const
 
ForcePlain __opposite__ () const
 
ForceRef< Vector6ArgType > & __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.
 
ForceRef< Vector6ArgType > & derived ()
 
const ForceRef< Vector6ArgType > & derived () const
 
void disp_impl (std::ostream &os) const
 
Scalar dot (const MotionDense< F1 > &phi) const
 
 FORCE_TYPEDEF_TPL (ForceRef< Vector6ArgType >)
 
bool isApprox (const ForceDense< M2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isApprox (const ForceRef< Vector6ArgType > &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 ForceBase< D2 > &other) 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.
 
ForcePlain motionAction (const MotionDense< M1 > &v) const
 
void motionAction (const MotionDense< M1 > &v, ForceDense< M2 > &fout) const
 
ForcePlain operator+ (const ForceDense< F1 > &f) const
 
ForceRef< Vector6ArgType > & operator+= (const ForceBase< F1 > &f)
 
ForceRef< Vector6ArgType > & operator+= (const ForceDense< F1 > &f)
 
ForcePlain operator- () const
 
ForcePlain operator- (const ForceDense< F1 > &f) const
 
ForceRef< Vector6ArgType > & operator-= (const ForceDense< M1 > &v)
 
ForceRef< Vector6ArgType > & operator= (const Eigen::MatrixBase< V6 > &v)
 
ForceRef< Vector6ArgType > & operator= (const ForceBase< ForceRef< Vector6ArgType > > &other)
 Copies the Derived Force into *this.
 
ForceRef< Vector6ArgType > & operator= (const ForceDense &other)
 
ForceRef< Vector6ArgType > & operator= (const ForceDense< D2 > &other)
 
ForceRefType ref ()
 
ForcePlain se3Action_impl (const SE3Tpl< S2, O2 > &m) const
 
void se3Action_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
 
ForcePlain se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const
 
void se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
 
ForceRef< Vector6ArgType > & set (const ForceDense< D2 > &other)
 
ForceRef< Vector6ArgType > & setRandom ()
 
ForceRef< Vector6ArgType > & setZero ()
 
- Public Member Functions inherited from ForceBase< Derived >
AngularType angular ()
 Return the angular part of the force vector.
 
ConstAngularType angular () const
 Return the angular part of the force vector.
 
template<typename V3Like >
void angular (const Eigen::MatrixBase< V3Like > &n)
 Set the angular part of the force vector.
 
Derived & const_cast_derived () const
 
Derived & derived ()
 
const Derived & derived () const
 
void disp (std::ostream &os) const
 
template<typename MotionDerived >
Scalar dot (const MotionDense< MotionDerived > &m) const
 
 FORCE_TYPEDEF_TPL (Derived)
 
bool isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isZero (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.
 
template<typename V3Like >
void linear (const Eigen::MatrixBase< V3Like > &f)
 Set the linear part of the force vector.
 
template<typename M1 >
MotionAlgebraAction< Derived, M1 >::ReturnType motionAction (const MotionDense< M1 > &v) const
 
 operator Vector6 () const
 
template<typename F2 >
bool operator!= (const ForceBase< F2 > &other) const
 
template<typename OtherScalar >
ForcePlain operator* (const OtherScalar &alpha) const
 
Derived operator+ (const ForceBase< Derived > &phi) const
 
Derived & operator+= (const ForceBase< Derived > &phi)
 Replaces *this by *this + other.
 
Derived operator- () const
 
Derived operator- (const ForceBase< Derived > &phi) const
 
Derived & operator-= (const ForceBase< Derived > &phi)
 Replaces *this by *this - other.
 
template<typename OtherScalar >
ForcePlain operator/ (const OtherScalar &alpha) const
 
Derived & operator= (const ForceBase< Derived > &other)
 Copies the Derived Force into *this.
 
template<typename F2 >
bool operator== (const ForceBase< F2 > &other) const
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
 Transform from A to B coordinates the Force represented by *this such that.
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
 Transform from B to A coordinates the Force represented by *this such that.
 
ToVectorReturnType toVector ()
 Return the force as an Eigen vector.
 
ToVectorConstReturnType toVector () const
 Return the force as an Eigen vector.
 

Protected Attributes

DataRefType m_ref
 

Additional Inherited Members

- Protected Member Functions inherited from ForceDense< ForceRef< Vector6ArgType > >
 ForceDense (const ForceDense &)=delete
 

Detailed Description

template<typename Vector6ArgType>
class pinocchio::ForceRef< Vector6ArgType >

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

Member Typedef Documentation

◆ Base

template<typename Vector6ArgType >
typedef ForceDense<ForceRef> Base

Definition at line 57 of file force-ref.hpp.

◆ DataRefType

template<typename Vector6ArgType >
typedef traits<ForceRef>::DataRefType DataRefType

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

Constructor & Destructor Documentation

◆ ForceRef() [1/2]

template<typename Vector6ArgType >
ForceRef ( typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType)  f_like)
inline

Default constructor from a 6 dimensional vector.

Definition at line 66 of file force-ref.hpp.

◆ ForceRef() [2/2]

template<typename Vector6ArgType >
ForceRef ( const ForceRef< Vector6ArgType > &  other)
inline

Copy constructor from another ForceRef.

Definition at line 75 of file force-ref.hpp.

Member Function Documentation

◆ angular_impl() [1/3]

template<typename Vector6ArgType >
AngularType angular_impl ( )
inline

Definition at line 98 of file force-ref.hpp.

◆ angular_impl() [2/3]

template<typename Vector6ArgType >
ConstAngularType angular_impl ( ) const
inline

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

◆ angular_impl() [3/3]

template<typename Vector6ArgType >
template<typename V3 >
void angular_impl ( const Eigen::MatrixBase< V3 > &  w)
inline

Definition at line 108 of file force-ref.hpp.

◆ linear_impl() [1/3]

template<typename Vector6ArgType >
LinearType linear_impl ( )
inline

Definition at line 102 of file force-ref.hpp.

◆ linear_impl() [2/3]

template<typename Vector6ArgType >
ConstLinearType linear_impl ( ) const
inline

Definition at line 94 of file force-ref.hpp.

◆ linear_impl() [3/3]

template<typename Vector6ArgType >
template<typename V3 >
void linear_impl ( const Eigen::MatrixBase< V3 > &  v)
inline

Definition at line 115 of file force-ref.hpp.

◆ operator=() [1/4]

template<typename Vector6ArgType >
template<typename V6 >
Derived & operator= ( const Eigen::MatrixBase< V6 > &  v)
inline

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

◆ operator=() [2/4]

template<typename Vector6ArgType >
Derived & operator= ( const ForceBase< Derived > &  other)
inline

Copies the Derived Force into *this.

Returns
a reference to *this

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

◆ operator=() [3/4]

template<typename Vector6ArgType >
Derived & operator= ( const ForceDense &  other)
inline

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

◆ operator=() [4/4]

template<typename Vector6ArgType >
template<typename D2 >
Derived & operator= ( const ForceDense< D2 > &  other)
inline

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

◆ ref()

template<typename Vector6ArgType >
ForceRef & ref ( )
inline

Definition at line 121 of file force-ref.hpp.

◆ toVector_impl() [1/2]

template<typename Vector6ArgType >
ToVectorReturnType toVector_impl ( )
inline

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

◆ toVector_impl() [2/2]

template<typename Vector6ArgType >
ToVectorConstReturnType toVector_impl ( ) const
inline

Definition at line 80 of file force-ref.hpp.

Member Data Documentation

◆ m_ref

template<typename Vector6ArgType >
DataRefType m_ref
protected

Definition at line 127 of file force-ref.hpp.

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