pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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Public Member Functions | Protected Attributes | List of all members
MotionHelicalUnalignedTpl< _Scalar, _Options > Struct Template Reference
Inheritance diagram for MotionHelicalUnalignedTpl< _Scalar, _Options >:
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Collaboration diagram for MotionHelicalUnalignedTpl< _Scalar, _Options >:
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Public Member Functions

template<typename Vector3Like , typename OtherScalar >
 MotionHelicalUnalignedTpl (const Eigen::MatrixBase< Vector3Like > &axis, const OtherScalar &w, const OtherScalar &v)
 
template<typename OtherScalar >
MotionHelicalUnalignedTpl __mult__ (const OtherScalar &alpha) const
 
template<typename MotionDerived >
void addTo (MotionDense< MotionDerived > &v) const
 
Scalar & angularRate ()
 
const Scalar & angularRate () const
 
Vector3 & axis ()
 
const Vector3 & axis () const
 
bool isEqual_impl (const MotionHelicalUnalignedTpl &other) const
 
Scalar & linearRate ()
 
const Scalar & linearRate () const
 
 MOTION_TYPEDEF_TPL (MotionHelicalUnalignedTpl)
 
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< MotionHelicalUnalignedTpl< _Scalar, _Options > >
AngularType angular ()
 
ConstAngularType angular () const
 
void angular (const Eigen::MatrixBase< V3Like > &w)
 
MotionHelicalUnalignedTpl< _Scalar, _Options > & const_cast_derived () const
 
MotionAlgebraAction< OtherSpatialType, MotionHelicalUnalignedTpl< _Scalar, _Options > >::ReturnType cross (const OtherSpatialType &d) const
 
MotionHelicalUnalignedTpl< _Scalar, _Options > & derived ()
 
const MotionHelicalUnalignedTpl< _Scalar, _Options > & derived () const
 
void disp (std::ostream &os) const
 
Scalar dot (const ForceDense< ForceDerived > &f) const
 
bool isApprox (const MotionHelicalUnalignedTpl< _Scalar, _Options > &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 (MotionHelicalUnalignedTpl< _Scalar, _Options >)
 
 operator Matrix6 () const
 
 operator PlainReturnType () const
 
 operator Vector6 () const
 
bool operator!= (const MotionBase< M2 > &other) const
 
internal::RHSScalarMultiplication< MotionHelicalUnalignedTpl< _Scalar, _Options >, OtherScalar >::ReturnType operator* (const OtherScalar &alpha) const
 
MotionHelicalUnalignedTpl< _Scalar, _Options > operator+ (const MotionBase< MotionHelicalUnalignedTpl< _Scalar, _Options > > &v) const
 
MotionHelicalUnalignedTpl< _Scalar, _Options > & operator+= (const MotionBase< MotionHelicalUnalignedTpl< _Scalar, _Options > > &v)
 
MotionHelicalUnalignedTpl< _Scalar, _Options > operator- () const
 
MotionHelicalUnalignedTpl< _Scalar, _Options > operator- (const MotionBase< MotionHelicalUnalignedTpl< _Scalar, _Options > > &v) const
 
MotionHelicalUnalignedTpl< _Scalar, _Options > & operator-= (const MotionBase< MotionHelicalUnalignedTpl< _Scalar, _Options > > &v)
 
MotionHelicalUnalignedTpl< _Scalar, _Options > operator/ (const OtherScalar &alpha) const
 
bool operator== (const MotionBase< M2 > &other) const
 
PlainReturnType plain () const
 
SE3GroupAction< MotionHelicalUnalignedTpl< _Scalar, _Options > >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
 
SE3GroupAction< MotionHelicalUnalignedTpl< _Scalar, _Options > >::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

Vector3 m_axis
 
Scalar m_v
 
Scalar m_w
 

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::MotionHelicalUnalignedTpl< _Scalar, _Options >

Definition at line 64 of file joint-helical-unaligned.hpp.

Constructor & Destructor Documentation

◆ MotionHelicalUnalignedTpl() [1/2]

template<typename _Scalar , int _Options>
MotionHelicalUnalignedTpl ( )
inline

Definition at line 70 of file joint-helical-unaligned.hpp.

◆ MotionHelicalUnalignedTpl() [2/2]

template<typename _Scalar , int _Options>
template<typename Vector3Like , typename OtherScalar >
MotionHelicalUnalignedTpl ( const Eigen::MatrixBase< Vector3Like > &  axis,
const OtherScalar &  w,
const OtherScalar &  v 
)
inline

Definition at line 75 of file joint-helical-unaligned.hpp.

Member Function Documentation

◆ __mult__()

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

Definition at line 89 of file joint-helical-unaligned.hpp.

◆ addTo()

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

Definition at line 105 of file joint-helical-unaligned.hpp.

◆ angularRate() [1/2]

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

Definition at line 170 of file joint-helical-unaligned.hpp.

◆ angularRate() [2/2]

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

Definition at line 174 of file joint-helical-unaligned.hpp.

◆ axis() [1/2]

template<typename _Scalar , int _Options>
Vector3 & axis ( )
inline

Definition at line 188 of file joint-helical-unaligned.hpp.

◆ axis() [2/2]

template<typename _Scalar , int _Options>
const Vector3 & axis ( ) const
inline

Definition at line 192 of file joint-helical-unaligned.hpp.

◆ isEqual_impl()

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

Definition at line 197 of file joint-helical-unaligned.hpp.

◆ linearRate() [1/2]

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

Definition at line 179 of file joint-helical-unaligned.hpp.

◆ linearRate() [2/2]

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

Definition at line 183 of file joint-helical-unaligned.hpp.

◆ motionAction() [1/2]

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

Definition at line 163 of file joint-helical-unaligned.hpp.

◆ motionAction() [2/2]

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

Definition at line 148 of file joint-helical-unaligned.hpp.

◆ plain()

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

Definition at line 83 of file joint-helical-unaligned.hpp.

◆ se3Action_impl() [1/2]

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

Definition at line 119 of file joint-helical-unaligned.hpp.

◆ se3Action_impl() [2/2]

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

Definition at line 112 of file joint-helical-unaligned.hpp.

◆ se3ActionInverse_impl() [1/2]

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

Definition at line 140 of file joint-helical-unaligned.hpp.

◆ se3ActionInverse_impl() [2/2]

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

Definition at line 127 of file joint-helical-unaligned.hpp.

◆ setTo()

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

Definition at line 95 of file joint-helical-unaligned.hpp.

Member Data Documentation

◆ m_axis

template<typename _Scalar , int _Options>
Vector3 m_axis
protected

Definition at line 204 of file joint-helical-unaligned.hpp.

◆ m_v

template<typename _Scalar , int _Options>
Scalar m_v
protected

Definition at line 205 of file joint-helical-unaligned.hpp.

◆ m_w

template<typename _Scalar , int _Options>
Scalar m_w
protected

Definition at line 205 of file joint-helical-unaligned.hpp.

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