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

Public Types

typedef MotionBase< Derived > Base
 
typedef traits< Derived >::MotionRefType MotionRefType
 

Public Member Functions

template<typename OtherScalar >
MotionPlain __div__ (const OtherScalar &alpha) const
 
template<typename M1 >
Derived & __mequ__ (const MotionDense< M1 > &v)
 
template<typename M1 >
MotionPlain __minus__ (const MotionDense< M1 > &v) const
 
template<typename OtherScalar >
MotionPlain __mult__ (const OtherScalar &alpha) const
 
MotionPlain __opposite__ () const
 
template<typename M1 >
Derived & __pequ__ (const MotionDense< M1 > &v)
 
template<typename M1 >
MotionPlain __plus__ (const MotionDense< M1 > &v) const
 
AngularType angular ()
 
ConstAngularType angular () const
 
template<typename V3Like >
void angular (const Eigen::MatrixBase< V3Like > &w)
 
template<typename D >
MotionAlgebraAction< D, Derived >::ReturnType cross_impl (const D &d) const
 
Derived & derived ()
 
const Derived & derived () const
 
void disp_impl (std::ostream &os) const
 
template<typename F1 >
Scalar dot (const ForceBase< F1 > &phi) const
 
bool isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
template<typename M2 >
bool isApprox (const MotionDense< M2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
template<typename D2 >
bool isApprox_impl (const MotionDense< D2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
template<typename D2 >
bool isEqual_impl (const MotionBase< D2 > &other) const
 
template<typename D2 >
bool isEqual_impl (const MotionDense< 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 ()
 
ConstLinearType linear () const
 
template<typename V3Like >
void linear (const Eigen::MatrixBase< V3Like > &v)
 
 MOTION_TYPEDEF_TPL (Derived)
 
template<typename M1 >
MotionPlain motionAction (const MotionDense< M1 > &v) const
 
template<typename M1 , typename M2 >
void motionAction (const MotionDense< M1 > &v, MotionDense< M2 > &mout) const
 
template<typename M1 >
MotionPlain operator+ (const MotionDense< M1 > &v) const
 
template<typename M1 >
Derived & operator+= (const MotionBase< M1 > &v)
 
template<typename M1 >
Derived & operator+= (const MotionDense< M1 > &v)
 
MotionPlain operator- () const
 
template<typename M1 >
MotionPlain operator- (const MotionDense< M1 > &v) const
 
template<typename M1 >
Derived & operator-= (const MotionDense< M1 > &v)
 
template<typename V6 >
Derived & operator= (const Eigen::MatrixBase< V6 > &v)
 
template<typename D2 >
Derived & operator= (const MotionBase< D2 > &other)
 
Derived & operator= (const MotionDense &other)
 
template<typename D2 >
Derived & operator= (const MotionDense< D2 > &other)
 
MotionRefType ref ()
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action_impl (const SE3Tpl< S2, O2 > &m) const
 
template<typename S2 , int O2, typename D2 >
void se3Action_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const
 
template<typename S2 , int O2, typename D2 >
void se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
 
template<typename D2 >
Derived & set (const MotionDense< D2 > &other)
 
Derived & setRandom ()
 
Derived & setZero ()
 
ActionMatrixType toActionMatrix_impl () const
 
ActionMatrixType toDualActionMatrix_impl () const
 
HomogeneousMatrixType toHomogeneousMatrix_impl () const
 
- Public Member Functions inherited from MotionBase< Derived >
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
 

Protected Member Functions

 MotionDense (const MotionDense &)=delete
 

Detailed Description

template<typename Derived>
class pinocchio::MotionDense< Derived >

Definition at line 26 of file motion-dense.hpp.

Member Typedef Documentation

◆ Base

template<typename Derived >
typedef MotionBase<Derived> Base

Definition at line 29 of file motion-dense.hpp.

◆ MotionRefType

template<typename Derived >
typedef traits<Derived>::MotionRefType MotionRefType

Definition at line 31 of file motion-dense.hpp.

Constructor & Destructor Documentation

◆ MotionDense()

template<typename Derived >
MotionDense ( )
inlineprotected

Definition at line 303 of file motion-dense.hpp.

Member Function Documentation

◆ __div__()

template<typename Derived >
template<typename OtherScalar >
MotionPlain __div__ ( const OtherScalar alpha) const
inline

Definition at line 205 of file motion-dense.hpp.

◆ __mequ__()

template<typename Derived >
template<typename M1 >
Derived & __mequ__ ( const MotionDense< M1 > &  v)
inline

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

◆ __minus__()

template<typename Derived >
template<typename M1 >
MotionPlain __minus__ ( const MotionDense< M1 > &  v) const
inline

Definition at line 177 of file motion-dense.hpp.

◆ __mult__()

template<typename Derived >
template<typename OtherScalar >
MotionPlain __mult__ ( const OtherScalar alpha) const
inline

Definition at line 199 of file motion-dense.hpp.

◆ __opposite__()

template<typename Derived >
MotionPlain __opposite__ ( ) const
inline

Definition at line 165 of file motion-dense.hpp.

◆ __pequ__()

template<typename Derived >
template<typename M1 >
Derived & __pequ__ ( const MotionDense< M1 > &  v)
inline

Definition at line 183 of file motion-dense.hpp.

◆ __plus__()

template<typename Derived >
template<typename M1 >
MotionPlain __plus__ ( const MotionDense< M1 > &  v) const
inline

Definition at line 171 of file motion-dense.hpp.

◆ angular() [1/3]

template<typename Derived >
AngularType angular ( )
inline

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

◆ angular() [2/3]

template<typename Derived >
ConstAngularType angular ( ) const
inline

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

◆ angular() [3/3]

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

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

◆ cross_impl()

template<typename Derived >
template<typename D >
MotionAlgebraAction< D, Derived >::ReturnType cross_impl ( const D &  d) const
inline

Definition at line 217 of file motion-dense.hpp.

◆ derived() [1/2]

template<typename Derived >
Derived & derived ( )
inline

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

◆ derived() [2/2]

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

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

◆ disp_impl()

template<typename Derived >
void disp_impl ( std::ostream &  os) const
inline

Definition at line 290 of file motion-dense.hpp.

◆ dot()

template<typename Derived >
template<typename F1 >
Scalar dot ( const ForceBase< F1 > &  phi) const
inline

Definition at line 211 of file motion-dense.hpp.

◆ isApprox() [1/2]

template<typename 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.

◆ isApprox() [2/2]

template<typename Derived >
template<typename M2 >
bool isApprox ( const MotionDense< M2 > &  m2,
const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision() 
) const
inline

Definition at line 238 of file motion-dense.hpp.

◆ isApprox_impl()

template<typename Derived >
template<typename D2 >
bool isApprox_impl ( const MotionDense< D2 > &  m2,
const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision() 
) const
inline

Definition at line 246 of file motion-dense.hpp.

◆ isEqual_impl() [1/2]

template<typename Derived >
template<typename D2 >
bool isEqual_impl ( const MotionBase< D2 > &  other) const
inline

Definition at line 90 of file motion-dense.hpp.

◆ isEqual_impl() [2/2]

template<typename Derived >
template<typename D2 >
bool isEqual_impl ( const MotionDense< D2 > &  other) const
inline

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

◆ isZero()

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

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

◆ isZero_impl()

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

Definition at line 253 of file motion-dense.hpp.

◆ linear() [1/3]

template<typename Derived >
LinearType linear ( )
inline

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

◆ linear() [2/3]

template<typename Derived >
ConstLinearType linear ( ) const
inline

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

◆ linear() [3/3]

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

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

◆ motionAction() [1/2]

template<typename Derived >
template<typename M1 >
MotionPlain motionAction ( const MotionDense< M1 > &  v) const
inline

Definition at line 230 of file motion-dense.hpp.

◆ motionAction() [2/2]

template<typename Derived >
template<typename M1 , typename M2 >
void motionAction ( const MotionDense< M1 > &  v,
MotionDense< M2 > &  mout 
) const
inline

Definition at line 223 of file motion-dense.hpp.

◆ operator+()

template<typename Derived >
template<typename M1 >
MotionPlain operator+ ( const MotionDense< M1 > &  v) const
inline

Definition at line 137 of file motion-dense.hpp.

◆ operator+=() [1/2]

template<typename Derived >
template<typename M1 >
Derived & operator+= ( const MotionBase< M1 > &  v)
inline

Definition at line 153 of file motion-dense.hpp.

◆ operator+=() [2/2]

template<typename Derived >
template<typename M1 >
Derived & operator+= ( const MotionDense< M1 > &  v)
inline

Definition at line 148 of file motion-dense.hpp.

◆ operator-() [1/2]

template<typename Derived >
MotionPlain operator- ( ) const
inline

Definition at line 132 of file motion-dense.hpp.

◆ operator-() [2/2]

template<typename Derived >
template<typename M1 >
MotionPlain operator- ( const MotionDense< M1 > &  v) const
inline

Definition at line 142 of file motion-dense.hpp.

◆ operator-=()

template<typename Derived >
template<typename M1 >
Derived & operator-= ( const MotionDense< M1 > &  v)
inline

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

◆ operator=() [1/4]

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

Definition at line 123 of file motion-dense.hpp.

◆ operator=() [2/4]

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

Definition at line 116 of file motion-dense.hpp.

◆ operator=() [3/4]

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

Definition at line 102 of file motion-dense.hpp.

◆ operator=() [4/4]

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

Definition at line 97 of file motion-dense.hpp.

◆ ref()

template<typename Derived >
MotionRefType ref ( )
inline
Returns
a MotionRef on this.

Definition at line 297 of file motion-dense.hpp.

◆ se3Action_impl() [1/2]

template<typename Derived >
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action_impl ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 266 of file motion-dense.hpp.

◆ se3Action_impl() [2/2]

template<typename Derived >
template<typename S2 , int O2, typename D2 >
void se3Action_impl ( const SE3Tpl< S2, O2 > &  m,
MotionDense< D2 > &  v 
) const
inline

Definition at line 259 of file motion-dense.hpp.

◆ se3ActionInverse_impl() [1/2]

template<typename Derived >
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse_impl ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 283 of file motion-dense.hpp.

◆ se3ActionInverse_impl() [2/2]

template<typename Derived >
template<typename S2 , int O2, typename D2 >
void se3ActionInverse_impl ( const SE3Tpl< S2, O2 > &  m,
MotionDense< D2 > &  v 
) const
inline

Definition at line 274 of file motion-dense.hpp.

◆ set()

template<typename Derived >
template<typename D2 >
Derived & set ( const MotionDense< D2 > &  other)
inline

Definition at line 108 of file motion-dense.hpp.

◆ setRandom()

template<typename Derived >
Derived & setRandom ( )
inline

Definition at line 45 of file motion-dense.hpp.

◆ setZero()

template<typename Derived >
Derived & setZero ( )
inline

Definition at line 39 of file motion-dense.hpp.

◆ toActionMatrix_impl()

template<typename Derived >
ActionMatrixType toActionMatrix_impl ( ) const
inline

Definition at line 52 of file motion-dense.hpp.

◆ toDualActionMatrix_impl()

template<typename Derived >
ActionMatrixType toDualActionMatrix_impl ( ) const
inline

Definition at line 63 of file motion-dense.hpp.

◆ toHomogeneousMatrix_impl()

template<typename Derived >
HomogeneousMatrixType toHomogeneousMatrix_impl ( ) const
inline

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


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