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 | Protected Attributes | List of all members
MotionHelicalTpl< _Scalar, _Options, axis > Struct Template Reference
Inheritance diagram for MotionHelicalTpl< _Scalar, _Options, axis >:
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Collaboration diagram for MotionHelicalTpl< _Scalar, _Options, axis >:
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Public Types

typedef SpatialAxis< axis+ANGULAR > AxisAngular
 
typedef SpatialAxis< axis+LINEAR > AxisLinear
 
typedef AxisAngular::CartesianAxis3 CartesianAxis3Angular
 
typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear
 

Public Member Functions

 MotionHelicalTpl (const Scalar &w, const Scalar &v)
 
template<typename OtherScalar >
MotionHelicalTpl __mult__ (const OtherScalar &alpha) const
 
template<typename MotionDerived >
void addTo (MotionDense< MotionDerived > &v) const
 
Scalar & angularRate ()
 
const Scalar & angularRate () const
 
bool isEqual_impl (const MotionHelicalTpl &other) const
 
Scalar & linearRate ()
 
const Scalar & linearRate () const
 
 MOTION_TYPEDEF_TPL (MotionHelicalTpl)
 
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
 
PlainReturnType plain () const
 
template<typename S2 , int O2>
MotionPlain 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>
MotionPlain 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 MotionDerived >
void setTo (MotionDense< MotionDerived > &m) const
 
- Public Member Functions inherited from MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > >
AngularType angular ()
 
ConstAngularType angular () const
 
void angular (const Eigen::MatrixBase< V3Like > &w)
 
MotionHelicalTpl< _Scalar, _Options, axis > & const_cast_derived () const
 
MotionAlgebraAction< OtherSpatialType, MotionHelicalTpl< _Scalar, _Options, axis > >::ReturnType cross (const OtherSpatialType &d) const
 
MotionHelicalTpl< _Scalar, _Options, axis > & derived ()
 
const MotionHelicalTpl< _Scalar, _Options, axis > & derived () const
 
void disp (std::ostream &os) const
 
Scalar dot (const ForceDense< ForceDerived > &f) const
 
bool isApprox (const MotionHelicalTpl< _Scalar, _Options, axis > &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
 
void linear (const Eigen::MatrixBase< V3Like > &v)
 
 MOTION_TYPEDEF_TPL (MotionHelicalTpl< _Scalar, _Options, axis >)
 
 operator Matrix6 () const
 
 operator PlainReturnType () const
 
 operator Vector6 () const
 
bool operator!= (const MotionBase< M2 > &other) const
 
internal::RHSScalarMultiplication< MotionHelicalTpl< _Scalar, _Options, axis >, OtherScalar >::ReturnType operator* (const OtherScalar &alpha) const
 
MotionHelicalTpl< _Scalar, _Options, axis > operator+ (const MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > > &v) const
 
MotionHelicalTpl< _Scalar, _Options, axis > & operator+= (const MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > > &v)
 
MotionHelicalTpl< _Scalar, _Options, axis > operator- () const
 
MotionHelicalTpl< _Scalar, _Options, axis > operator- (const MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > > &v) const
 
MotionHelicalTpl< _Scalar, _Options, axis > & operator-= (const MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > > &v)
 
MotionHelicalTpl< _Scalar, _Options, axis > operator/ (const OtherScalar &alpha) const
 
bool operator== (const MotionBase< M2 > &other) const
 
PlainReturnType plain () const
 
SE3GroupAction< MotionHelicalTpl< _Scalar, _Options, axis > >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
 
SE3GroupAction< MotionHelicalTpl< _Scalar, _Options, axis > >::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 Attributes

Scalar m_v
 
Scalar m_w
 

Detailed Description

template<typename _Scalar, int _Options, int axis>
struct pinocchio::MotionHelicalTpl< _Scalar, _Options, axis >

Definition at line 252 of file joint-helical.hpp.

Member Typedef Documentation

◆ AxisAngular

template<typename _Scalar , int _Options, int axis>
typedef SpatialAxis<axis + ANGULAR> AxisAngular

Definition at line 257 of file joint-helical.hpp.

◆ AxisLinear

template<typename _Scalar , int _Options, int axis>
typedef SpatialAxis<axis + LINEAR> AxisLinear

Definition at line 259 of file joint-helical.hpp.

◆ CartesianAxis3Angular

template<typename _Scalar , int _Options, int axis>
typedef AxisAngular::CartesianAxis3 CartesianAxis3Angular

Definition at line 258 of file joint-helical.hpp.

◆ CartesianAxis3Linear

template<typename _Scalar , int _Options, int axis>
typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear

Definition at line 260 of file joint-helical.hpp.

Constructor & Destructor Documentation

◆ MotionHelicalTpl() [1/2]

template<typename _Scalar , int _Options, int axis>
MotionHelicalTpl ( )
inline

Definition at line 262 of file joint-helical.hpp.

◆ MotionHelicalTpl() [2/2]

template<typename _Scalar , int _Options, int axis>
MotionHelicalTpl ( const Scalar &  w,
const Scalar &  v 
)
inline

Definition at line 266 of file joint-helical.hpp.

Member Function Documentation

◆ __mult__()

template<typename _Scalar , int _Options, int axis>
template<typename OtherScalar >
MotionHelicalTpl __mult__ ( const OtherScalar &  alpha) const
inline

Definition at line 278 of file joint-helical.hpp.

◆ addTo()

template<typename _Scalar , int _Options, int axis>
template<typename MotionDerived >
void addTo ( MotionDense< MotionDerived > &  v) const
inline

Definition at line 294 of file joint-helical.hpp.

◆ angularRate() [1/2]

template<typename _Scalar , int _Options, int axis>
Scalar & angularRate ( )
inline

Definition at line 356 of file joint-helical.hpp.

◆ angularRate() [2/2]

template<typename _Scalar , int _Options, int axis>
const Scalar & angularRate ( ) const
inline

Definition at line 360 of file joint-helical.hpp.

◆ isEqual_impl()

template<typename _Scalar , int _Options, int axis>
bool isEqual_impl ( const MotionHelicalTpl< _Scalar, _Options, axis > &  other) const
inline

Definition at line 374 of file joint-helical.hpp.

◆ linearRate() [1/2]

template<typename _Scalar , int _Options, int axis>
Scalar & linearRate ( )
inline

Definition at line 365 of file joint-helical.hpp.

◆ linearRate() [2/2]

template<typename _Scalar , int _Options, int axis>
const Scalar & linearRate ( ) const
inline

Definition at line 369 of file joint-helical.hpp.

◆ motionAction() [1/2]

template<typename _Scalar , int _Options, int axis>
template<typename M1 >
MotionPlain motionAction ( const MotionDense< M1 > &  v) const
inline

Definition at line 349 of file joint-helical.hpp.

◆ motionAction() [2/2]

template<typename _Scalar , int _Options, int axis>
template<typename M1 , typename M2 >
void motionAction ( const MotionDense< M1 > &  v,
MotionDense< M2 > &  mout 
) const
inline

Definition at line 338 of file joint-helical.hpp.

◆ plain()

template<typename _Scalar , int _Options, int axis>
PlainReturnType plain ( ) const
inline

Definition at line 272 of file joint-helical.hpp.

◆ se3Action_impl() [1/2]

template<typename _Scalar , int _Options, int axis>
template<typename S2 , int O2>
MotionPlain se3Action_impl ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 309 of file joint-helical.hpp.

◆ se3Action_impl() [2/2]

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

Definition at line 302 of file joint-helical.hpp.

◆ se3ActionInverse_impl() [1/2]

template<typename _Scalar , int _Options, int axis>
template<typename S2 , int O2>
MotionPlain se3ActionInverse_impl ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 330 of file joint-helical.hpp.

◆ se3ActionInverse_impl() [2/2]

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

Definition at line 318 of file joint-helical.hpp.

◆ setTo()

template<typename _Scalar , int _Options, int axis>
template<typename MotionDerived >
void setTo ( MotionDense< MotionDerived > &  m) const
inline

Definition at line 284 of file joint-helical.hpp.

Member Data Documentation

◆ m_v

template<typename _Scalar , int _Options, int axis>
Scalar m_v
protected

Definition at line 380 of file joint-helical.hpp.

◆ m_w

template<typename _Scalar , int _Options, int axis>
Scalar m_w
protected

Definition at line 380 of file joint-helical.hpp.

The documentation for this struct was generated from the following file: