Inheritance diagram for MotionBase< Derived >:

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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 >

template<typename OtherSpatialType >

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:

include/pinocchio/spatial/fwd.hpp
include/pinocchio/spatial/motion-base.hpp

Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ angular() [1/3]

◆ angular() [2/3]

◆ angular() [3/3]

◆ const_cast_derived()

◆ cross()

◆ derived() [1/2]

◆ derived() [2/2]

◆ disp()

◆ dot()

◆ isApprox()

◆ isZero()

◆ linear() [1/3]

◆ linear() [2/3]

◆ linear() [3/3]

◆ operator Matrix6()

◆ operator PlainReturnType()

◆ operator Vector6()

◆ operator!=()

◆ operator*()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator==()

◆ plain()

◆ se3Action()

◆ se3ActionInverse()

◆ setZero()

◆ toActionMatrix()

◆ toDualActionMatrix()

◆ toHomogeneousMatrix()

◆ toVector() [1/2]

◆ toVector() [2/2]

Friends And Related Symbol Documentation

◆ operator<<