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 | Static Public Member Functions | Protected Attributes | List of all members
ForceTpl< _Scalar, _Options > Class Template Reference
Inheritance diagram for ForceTpl< _Scalar, _Options >:
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Collaboration diagram for ForceTpl< _Scalar, _Options >:
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Public Types

enum  { Options = _Options }
 
typedef ForceDense< ForceTpl > Base
 
- Public Types inherited from ForceDense< ForceTpl< _Scalar, _Options > >
typedef ForceBase< ForceTpl< _Scalar, _Options > > Base
 
typedef traits< ForceTpl< _Scalar, _Options > >::ForceRefType ForceRefType
 

Public Member Functions

template<typename V1 , typename V2 >
 ForceTpl (const Eigen::MatrixBase< V1 > &v, const Eigen::MatrixBase< V2 > &w)
 
template<typename V6 >
 ForceTpl (const Eigen::MatrixBase< V6 > &v)
 
template<typename F2 >
 ForceTpl (const ForceBase< F2 > &clone)
 
template<typename M2 >
 ForceTpl (const ForceDense< M2 > &clone)
 
 ForceTpl (const ForceTpl &clone)
 
template<typename S2 , int O2>
 ForceTpl (const ForceTpl< S2, O2 > &other)
 
template<int O2>
 ForceTpl (const ForceTpl< Scalar, O2 > &clone)
 
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.
 
AngularType angular_impl ()
 
ConstAngularType angular_impl () const
 
template<typename V3 >
void angular_impl (const Eigen::MatrixBase< V3 > &w)
 
template<typename NewScalar >
ForceTpl< NewScalar, Options > cast () const
 
 FORCE_TYPEDEF_TPL (ForceTpl)
 
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.
 
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)
 
ForceTpl & operator= (const ForceTpl &clone)
 
ForceRef< Vector6 > ref ()
 
ToVectorReturnType toVector_impl ()
 
ToVectorConstReturnType toVector_impl () const
 
- Public Member Functions inherited from ForceDense< ForceTpl< _Scalar, _Options > >
ForcePlain __div__ (const OtherScalar &alpha) const
 
ForceTpl< _Scalar, _Options > & __mequ__ (const ForceDense< M1 > &v)
 
ForcePlain __minus__ (const ForceDense< M1 > &v) const
 
ForcePlain __mult__ (const OtherScalar &alpha) const
 
ForcePlain __opposite__ () const
 
ForceTpl< _Scalar, _Options > & __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.
 
ForceTpl< _Scalar, _Options > & derived ()
 
const ForceTpl< _Scalar, _Options > & derived () const
 
void disp_impl (std::ostream &os) const
 
Scalar dot (const MotionDense< F1 > &phi) const
 
 FORCE_TYPEDEF_TPL (ForceTpl< _Scalar, _Options >)
 
bool isApprox (const ForceDense< M2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isApprox (const ForceTpl< _Scalar, _Options > &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
 
ForceTpl< _Scalar, _Options > & operator+= (const ForceBase< F1 > &f)
 
ForceTpl< _Scalar, _Options > & operator+= (const ForceDense< F1 > &f)
 
ForcePlain operator- () const
 
ForcePlain operator- (const ForceDense< F1 > &f) const
 
ForceTpl< _Scalar, _Options > & operator-= (const ForceDense< M1 > &v)
 
ForceTpl< _Scalar, _Options > & operator= (const Eigen::MatrixBase< V6 > &v)
 
ForceTpl< _Scalar, _Options > & operator= (const ForceBase< ForceTpl< _Scalar, _Options > > &other)
 Copies the Derived Force into *this.
 
ForceTpl< _Scalar, _Options > & operator= (const ForceDense &other)
 
ForceTpl< _Scalar, _Options > & 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
 
ForceTpl< _Scalar, _Options > & set (const ForceDense< D2 > &other)
 
ForceTpl< _Scalar, _Options > & setRandom ()
 
ForceTpl< _Scalar, _Options > & 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.
 

Static Public Member Functions

static ForceTpl Random ()
 
static ForceTpl Zero ()
 

Protected Attributes

Vector6 m_data
 

Additional Inherited Members

- Protected Member Functions inherited from ForceDense< ForceTpl< _Scalar, _Options > >
 ForceDense (const ForceDense &)=delete
 

Detailed Description

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

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

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>
typedef ForceDense<ForceTpl> Base

Definition at line 40 of file force-tpl.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>
anonymous enum

Definition at line 42 of file force-tpl.hpp.

Constructor & Destructor Documentation

◆ ForceTpl() [1/8]

template<typename _Scalar , int _Options>
ForceTpl ( )
inline

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

◆ ForceTpl() [2/8]

template<typename _Scalar , int _Options>
template<typename V1 , typename V2 >
ForceTpl ( const Eigen::MatrixBase< V1 > &  v,
const Eigen::MatrixBase< V2 > &  w 
)
inline

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

◆ ForceTpl() [3/8]

template<typename _Scalar , int _Options>
template<typename V6 >
ForceTpl ( const Eigen::MatrixBase< V6 > &  v)
inlineexplicit

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

◆ ForceTpl() [4/8]

template<typename _Scalar , int _Options>
ForceTpl ( const ForceTpl< _Scalar, _Options > &  clone)
inline

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

◆ ForceTpl() [5/8]

template<typename _Scalar , int _Options>
template<typename S2 , int O2>
ForceTpl ( const ForceTpl< S2, O2 > &  other)
inlineexplicit

Definition at line 79 of file force-tpl.hpp.

◆ ForceTpl() [6/8]

template<typename _Scalar , int _Options>
template<typename F2 >
ForceTpl ( const ForceBase< F2 > &  clone)
inlineexplicit

Definition at line 85 of file force-tpl.hpp.

◆ ForceTpl() [7/8]

template<typename _Scalar , int _Options>
template<int O2>
ForceTpl ( const ForceTpl< Scalar, O2 > &  clone)
inlineexplicit

Definition at line 97 of file force-tpl.hpp.

◆ ForceTpl() [8/8]

template<typename _Scalar , int _Options>
template<typename M2 >
ForceTpl ( const ForceDense< M2 > &  clone)
inlineexplicit

Definition at line 103 of file force-tpl.hpp.

Member Function Documentation

◆ angular() [1/3]

template<typename _Scalar , int _Options>
AngularType angular ( )
inline

Return the angular part of the force vector.

Returns
The 3D vector associated to the angular part of the 6D force vector

Definition at line 31 of file force-base.hpp.

◆ angular() [2/3]

template<typename _Scalar , int _Options>
ConstAngularType angular ( ) const
inline

Return the angular part of the force vector.

Returns
The 3D vector associated to the angular part of the 6D force vector

Definition at line 31 of file force-base.hpp.

◆ angular() [3/3]

template<typename _Scalar , int _Options>
template<typename V3Like >
void angular ( const Eigen::MatrixBase< V3Like > &  n)
inline

Set the angular part of the force vector.

Template Parameters
V3LikeA vector 3 like type.
Parameters
[in]n

Definition at line 31 of file force-base.hpp.

◆ angular_impl() [1/3]

template<typename _Scalar , int _Options>
AngularType angular_impl ( )
inline

Definition at line 137 of file force-tpl.hpp.

◆ angular_impl() [2/3]

template<typename _Scalar , int _Options>
ConstAngularType angular_impl ( ) const
inline

Definition at line 129 of file force-tpl.hpp.

◆ angular_impl() [3/3]

template<typename _Scalar , int _Options>
template<typename V3 >
void angular_impl ( const Eigen::MatrixBase< V3 > &  w)
inline

Definition at line 147 of file force-tpl.hpp.

◆ cast()

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

Definition at line 166 of file force-tpl.hpp.

◆ linear() [1/3]

template<typename _Scalar , int _Options>
LinearType linear ( )
inline

Return the linear part of the force vector.

Returns
The 3D vector associated to the linear part of the 6D force vector

Definition at line 35 of file force-base.hpp.

◆ linear() [2/3]

template<typename _Scalar , int _Options>
ConstLinearType linear ( ) const
inline

Return the linear part of the force vector.

Returns
The 3D vector associated to the linear part of the 6D force vector

Definition at line 35 of file force-base.hpp.

◆ linear() [3/3]

template<typename _Scalar , int _Options>
template<typename V3Like >
void linear ( const Eigen::MatrixBase< V3Like > &  f)
inline

Set the linear part of the force vector.

Template Parameters
V3LikeA vector 3 like type.
Parameters
[in]f

Definition at line 35 of file force-base.hpp.

◆ linear_impl() [1/3]

template<typename _Scalar , int _Options>
LinearType linear_impl ( )
inline

Definition at line 141 of file force-tpl.hpp.

◆ linear_impl() [2/3]

template<typename _Scalar , int _Options>
ConstLinearType linear_impl ( ) const
inline

Definition at line 133 of file force-tpl.hpp.

◆ linear_impl() [3/3]

template<typename _Scalar , int _Options>
template<typename V3 >
void linear_impl ( const Eigen::MatrixBase< V3 > &  v)
inline

Definition at line 153 of file force-tpl.hpp.

◆ operator=() [1/5]

template<typename _Scalar , int _Options>
template<typename V6 >
Derived & operator= ( const Eigen::MatrixBase< V6 > &  v)
inline

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

◆ operator=() [2/5]

template<typename _Scalar , int _Options>
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=() [3/5]

template<typename _Scalar , int _Options>
Derived & operator= ( const ForceDense &  other)
inline

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

◆ operator=() [4/5]

template<typename _Scalar , int _Options>
template<typename D2 >
Derived & operator= ( const ForceDense< D2 > &  other)
inline

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

◆ operator=() [5/5]

template<typename _Scalar , int _Options>
ForceTpl & operator= ( const ForceTpl< _Scalar, _Options > &  clone)
inline

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

◆ Random()

template<typename _Scalar , int _Options>
static ForceTpl Random ( )
inlinestatic

Definition at line 114 of file force-tpl.hpp.

◆ ref()

template<typename _Scalar , int _Options>
ForceRef< Vector6 > ref ( )
inline

Definition at line 159 of file force-tpl.hpp.

◆ toVector_impl() [1/2]

template<typename _Scalar , int _Options>
ToVectorReturnType toVector_impl ( )
inline

Definition at line 123 of file force-tpl.hpp.

◆ toVector_impl() [2/2]

template<typename _Scalar , int _Options>
ToVectorConstReturnType toVector_impl ( ) const
inline

Definition at line 119 of file force-tpl.hpp.

◆ Zero()

template<typename _Scalar , int _Options>
static ForceTpl Zero ( )
inlinestatic

Definition at line 110 of file force-tpl.hpp.

Member Data Documentation

◆ m_data

template<typename _Scalar , int _Options>
Vector6 m_data
protected

Definition at line 174 of file force-tpl.hpp.

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