pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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MotionBase< Derived > Class Template Reference
Inheritance diagram for MotionBase< Derived >:
Collaboration diagram for MotionBase< Derived >:

Public Member Functions

AngularType angular ()
 
ConstAngularType angular () const
 
template<typename V3Like >
void angular (const Eigen::MatrixBase< V3Like > &w)
 
Derived & const_cast_derived () const
 
template<typename OtherSpatialType >
MotionAlgebraAction< OtherSpatialType, Derived >::ReturnType cross (const OtherSpatialType &d) const
 
Derived & derived ()
 
const Derived & derived () const
 
void disp (std::ostream &os) const
 
template<typename ForceDerived >
Scalar dot (const ForceDense< ForceDerived > &f) const
 
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 ()
 
ConstLinearType linear () const
 
template<typename V3Like >
void linear (const Eigen::MatrixBase< V3Like > &v)
 
 MOTION_TYPEDEF_TPL (Derived)
 
 operator Matrix6 () const
 
 operator PlainReturnType () const
 
 operator Vector6 () const
 
template<typename M2 >
bool operator!= (const MotionBase< M2 > &other) const
 
template<typename OtherScalar >
internal::RHSScalarMultiplication< Derived, OtherScalar >::ReturnType operator* (const OtherScalar &alpha) const
 
Derived operator+ (const MotionBase< Derived > &v) const
 
Derived & operator+= (const MotionBase< Derived > &v)
 
Derived operator- () const
 
Derived operator- (const MotionBase< Derived > &v) const
 
Derived & operator-= (const MotionBase< Derived > &v)
 
template<typename OtherScalar >
Derived operator/ (const OtherScalar &alpha) const
 
template<typename M2 >
bool operator== (const MotionBase< M2 > &other) const
 
PlainReturnType plain () const
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::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 \( \xi \).
 
ToVectorReturnType toVector ()
 
ToVectorConstReturnType toVector () const
 

Friends

std::ostream & operator<< (std::ostream &os, const MotionBase< Derived > &v)
 

Detailed Description

template<class Derived>
class pinocchio::MotionBase< Derived >

Definition at line 13 of file motion-base.hpp.

Member Function Documentation

◆ angular() [1/3]

template<class Derived >
AngularType angular ( )
inline

Definition at line 40 of file motion-base.hpp.

◆ angular() [2/3]

template<class Derived >
ConstAngularType angular ( ) const
inline

Definition at line 32 of file motion-base.hpp.

◆ angular() [3/3]

template<class Derived >
template<typename V3Like >
void angular ( const Eigen::MatrixBase< V3Like > &  w)
inline

Definition at line 50 of file motion-base.hpp.

◆ const_cast_derived()

template<class Derived >
Derived & const_cast_derived ( ) const
inline

Definition at line 27 of file motion-base.hpp.

◆ cross()

template<class Derived >
MotionAlgebraAction< OtherSpatialType, Derived >::ReturnType cross ( const OtherSpatialType d) const
inline

Definition at line 167 of file motion-base.hpp.

◆ derived() [1/2]

template<class Derived >
Derived & derived ( )
inline

Definition at line 18 of file motion-base.hpp.

◆ derived() [2/2]

template<class Derived >
const Derived & derived ( ) const
inline

Definition at line 22 of file motion-base.hpp.

◆ disp()

template<class Derived >
void disp ( std::ostream &  os) const
inline

Definition at line 202 of file motion-base.hpp.

◆ dot()

template<class Derived >
template<typename ForceDerived >
Scalar dot ( const ForceDense< ForceDerived > &  f) const
inline

Definition at line 197 of file motion-base.hpp.

◆ isApprox()

template<class Derived >
bool isApprox ( const Derived &  other,
const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision() 
) const
inline

Definition at line 172 of file motion-base.hpp.

◆ isZero()

template<class Derived >
bool isZero ( const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
inline

Definition at line 179 of file motion-base.hpp.

◆ linear() [1/3]

template<class Derived >
LinearType linear ( )
inline

Definition at line 44 of file motion-base.hpp.

◆ linear() [2/3]

template<class Derived >
ConstLinearType linear ( ) const
inline

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

◆ linear() [3/3]

template<class Derived >
template<typename V3Like >
void linear ( const Eigen::MatrixBase< V3Like > &  v)
inline

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

◆ operator Matrix6()

template<class Derived >
operator Matrix6 ( ) const
inline

Definition at line 91 of file motion-base.hpp.

◆ operator PlainReturnType()

template<class Derived >
operator PlainReturnType ( ) const
inline

Definition at line 61 of file motion-base.hpp.

◆ operator Vector6()

template<class Derived >
operator Vector6 ( ) const
inline

Definition at line 78 of file motion-base.hpp.

◆ operator!=()

template<class Derived >
template<typename M2 >
bool operator!= ( const MotionBase< M2 > &  other) const
inline

Definition at line 126 of file motion-base.hpp.

◆ operator*()

template<class Derived >
template<typename OtherScalar >
internal::RHSScalarMultiplication< Derived, OtherScalar >::ReturnType operator* ( const OtherScalar alpha) const
inline

Definition at line 154 of file motion-base.hpp.

◆ operator+()

template<class Derived >
Derived operator+ ( const MotionBase< Derived > &  v) const
inline

Definition at line 135 of file motion-base.hpp.

◆ operator+=()

template<class Derived >
Derived & operator+= ( const MotionBase< Derived > &  v)
inline

Definition at line 143 of file motion-base.hpp.

◆ operator-() [1/2]

template<class Derived >
Derived operator- ( ) const
inline

Definition at line 131 of file motion-base.hpp.

◆ operator-() [2/2]

template<class Derived >
Derived operator- ( const MotionBase< Derived > &  v) const
inline

Definition at line 139 of file motion-base.hpp.

◆ operator-=()

template<class Derived >
Derived & operator-= ( const MotionBase< Derived > &  v)
inline

Definition at line 147 of file motion-base.hpp.

◆ operator/()

template<class Derived >
template<typename OtherScalar >
Derived operator/ ( const OtherScalar alpha) const
inline

Definition at line 160 of file motion-base.hpp.

◆ operator==()

template<class Derived >
template<typename M2 >
bool operator== ( const MotionBase< M2 > &  other) const
inline

Definition at line 120 of file motion-base.hpp.

◆ plain()

template<class Derived >
PlainReturnType plain ( ) const
inline

Definition at line 65 of file motion-base.hpp.

◆ se3Action()

template<class Derived >
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 185 of file motion-base.hpp.

◆ se3ActionInverse()

template<class Derived >
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 191 of file motion-base.hpp.

◆ setZero()

template<class Derived >
void setZero ( )
inline

Definition at line 114 of file motion-base.hpp.

◆ toActionMatrix()

template<class Derived >
ActionMatrixType toActionMatrix ( ) const
inline

Definition at line 83 of file motion-base.hpp.

◆ toDualActionMatrix()

template<class Derived >
ActionMatrixType toDualActionMatrix ( ) const
inline

Definition at line 87 of file motion-base.hpp.

◆ toHomogeneousMatrix()

template<class Derived >
HomogeneousMatrixType toHomogeneousMatrix ( ) const
inline

The homogeneous representation of the motion vector \( \xi \).

With \( \hat{\xi} = \left( \begin{array}{cc} \omega & v \\ 0 & 0 \\ \end{array} \right) \),

\[ {}^a\dot{M}_b = \hat{\xi} {}^aM_b \]

Note
This function is provided for completeness, but it is not the best way to use Motion quantities in terms of sparsity exploitation and general efficiency. For integration, the recommended way is to use Motion vectors along with the integrate function.

Definition at line 109 of file motion-base.hpp.

◆ toVector() [1/2]

template<class Derived >
ToVectorReturnType toVector ( )
inline

Definition at line 74 of file motion-base.hpp.

◆ toVector() [2/2]

template<class Derived >
ToVectorConstReturnType toVector ( ) const
inline

Definition at line 70 of file motion-base.hpp.

Friends And Related Symbol Documentation

◆ operator<<

template<class Derived >
std::ostream & operator<< ( std::ostream &  os,
const MotionBase< Derived > &  v 
)
friend

Definition at line 206 of file motion-base.hpp.


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