ForceSetTpl< _Scalar, _Options > Class Template Reference

Classes
struct	Block

Public Types
enum	{ Options = _Options }
typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options >	Matrix3x
typedef Eigen::Matrix< Scalar, 6, 6, Options >	Matrix6
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	Matrix6x
typedef _Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3
typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3
typedef Eigen::Matrix< Scalar, 6, 1, Options >	Vector6

Public Member Functions
	ForceSetTpl (const int &ncols)
	ForceSetTpl (const Matrix3x &linear, const Matrix3x &angular)
const Matrix3x &	angular () const
Block	block (const int &idx, const int &len)
const Matrix3x &	linear () const
Matrix6x	matrix () const
	operator Matrix6x () const
ForceSetTpl	se3Action (const SE3 &m) const
	af = aXb.act(bf)
ForceSetTpl	se3ActionInverse (const SE3 &m) const
	bf = aXb.actInv(af)

Friends
std::ostream &	operator<< (std::ostream &os, const ForceSetTpl &phi)

Detailed Description

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

Definition at line 14 of file force-set.hpp.

Member Typedef Documentation

Matrix3

template<typename _Scalar , int _Options>

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

Definition at line 23 of file force-set.hpp.

Matrix3x

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x

Definition at line 28 of file force-set.hpp.

Matrix6

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6

Definition at line 25 of file force-set.hpp.

Matrix6x

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6x

Definition at line 29 of file force-set.hpp.

Scalar

template<typename _Scalar , int _Options>

typedef _Scalar Scalar

Definition at line 17 of file force-set.hpp.

SE3

template<typename _Scalar , int _Options>

typedef SE3Tpl<Scalar, Options> SE3

Definition at line 26 of file force-set.hpp.

Vector3

template<typename _Scalar , int _Options>

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

Definition at line 22 of file force-set.hpp.

Vector6

template<typename _Scalar , int _Options>

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

Definition at line 24 of file force-set.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Definition at line 18 of file force-set.hpp.

Constructor & Destructor Documentation

ForceSetTpl() [1/2]

template<typename _Scalar , int _Options>

ForceSetTpl ( const int &  ncols )

inline

Definition at line 33 of file force-set.hpp.

ForceSetTpl() [2/2]

template<typename _Scalar , int _Options>

ForceSetTpl ( const Matrix3x &  linear, const Matrix3x &  angular  )

inline

Definition at line 41 of file force-set.hpp.

Member Function Documentation

angular()

template<typename _Scalar , int _Options>

const Matrix3x & angular ( ) const

inline

Definition at line 67 of file force-set.hpp.

block()

template<typename _Scalar , int _Options>

Block block ( const int &  idx, const int &  len  )

inline

Definition at line 179 of file force-set.hpp.

linear()

template<typename _Scalar , int _Options>

const Matrix3x & linear ( ) const

inline

Definition at line 63 of file force-set.hpp.

matrix()

template<typename _Scalar , int _Options>

Matrix6x matrix ( ) const

inline

Definition at line 49 of file force-set.hpp.

operator Matrix6x()

template<typename _Scalar , int _Options>

operator Matrix6x ( ) const

inline

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

se3Action()

template<typename _Scalar , int _Options>

ForceSetTpl se3Action ( const SE3 &  m ) const

inline

af = aXb.act(bf)

Definition at line 73 of file force-set.hpp.

se3ActionInverse()

template<typename _Scalar , int _Options>

ForceSetTpl se3ActionInverse ( const SE3 &  m ) const

inline

bf = aXb.actInv(af)

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

Friends And Related Symbol Documentation

operator<<

template<typename _Scalar , int _Options>

std::ostream & operator<< ( std::ostream &  os, const ForceSetTpl< _Scalar, _Options > &  phi  )

friend

Definition at line 88 of file force-set.hpp.

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

• include/pinocchio/multibody/force-set.hpp