6#ifndef __pinocchio_spatial_force_tpl_hpp__
7#define __pinocchio_spatial_force_tpl_hpp__
11 template<
typename _Scalar,
int _Options>
15 typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3;
16 typedef Eigen::Matrix<Scalar, 6, 1, _Options> Vector6;
17 typedef Eigen::Matrix<Scalar, 6, 6, _Options> Matrix6;
18 typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
19 typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
35 template<
typename _Scalar,
int _Options>
47 using Base::operator=;
48 using Base::operator!=;
57 template<
typename V1,
typename V2>
58 ForceTpl(
const Eigen::MatrixBase<V1> & v,
const Eigen::MatrixBase<V2> & w)
67 explicit ForceTpl(
const Eigen::MatrixBase<V6> & v)
78 template<
typename S2,
int O2>
102 template<
typename M2>
105 linear() = clone.linear();
119 ToVectorConstReturnType toVector_impl()
const
123 ToVectorReturnType toVector_impl()
129 ConstAngularType angular_impl()
const
133 ConstLinearType linear_impl()
const
137 AngularType angular_impl()
141 LinearType linear_impl()
146 template<
typename V3>
147 void angular_impl(
const Eigen::MatrixBase<V3> & w)
152 template<
typename V3>
153 void linear_impl(
const Eigen::MatrixBase<V3> & v)
165 template<
typename NewScalar>
ToVectorConstReturnType toVector() const
Return the force as an Eigen vector.
ConstAngularType angular() const
Return the angular part of the force vector.
ConstLinearType linear() const
Return the linear part of the force vector.
ConstAngularType angular() const
Return the angular part of the force vector.
ConstLinearType linear() const
Return the linear part of the force vector.
ForceTpl< NewScalar, Options > cast() const
Main pinocchio namespace.
Common traits structure to fully define base classes for CRTP.