A structure representing a pseudo inertia matrix. More...
#include <pinocchio/spatial/inertia.hpp>
Public Types | |
enum | { Options = _Options } |
typedef LogCholeskyParametersTpl< Scalar, Options > | LogCholeskyParameters |
typedef Eigen::Matrix< Scalar, 3, 3, Options > | Matrix3 |
typedef Eigen::Matrix< Scalar, 4, 4, Options > | Matrix4 |
typedef _Scalar | Scalar |
typedef Eigen::Matrix< Scalar, 10, 1, Options > | Vector10 |
typedef Eigen::Matrix< Scalar, 3, 1, Options > | Vector3 |
Public Member Functions | |
PseudoInertiaTpl (Scalar mass, const Vector3 &h, const Matrix3 &sigma) | |
template<typename NewScalar > | |
PseudoInertiaTpl< NewScalar, Options > | cast () const |
void | disp_impl (std::ostream &os) const |
Vector10 | toDynamicParameters () const |
Converts the PseudoInertiaTpl object to dynamic parameters. | |
InertiaTpl< Scalar, Options > | toInertia () const |
Converts the PseudoInertiaTpl object to an InertiaTpl object. | |
Matrix4 | toMatrix () const |
Converts the PseudoInertiaTpl object to a 4x4 matrix. | |
Static Public Member Functions | |
template<typename Vector10Like > | |
static PseudoInertiaTpl | FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > &dynamic_params) |
Constructs a PseudoInertiaTpl object from dynamic parameters. | |
static PseudoInertiaTpl | FromInertia (const InertiaTpl< Scalar, Options > &inertia) |
Constructs a PseudoInertiaTpl object from an InertiaTpl object. | |
static PseudoInertiaTpl | FromLogCholeskyParameters (const LogCholeskyParameters &log_cholesky) |
Constructs a PseudoInertiaTpl object from log Cholesky parameters. | |
static PseudoInertiaTpl | FromMatrix (const Matrix4 &pseudo_inertia) |
Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix. | |
Public Attributes | |
Vector3 | h |
Vector part of the pseudo inertia. | |
Scalar | mass |
Mass of the pseudo inertia. | |
Matrix3 | sigma |
3x3 matrix part of the pseudo inertia | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const PseudoInertiaTpl &pi) |
A structure representing a pseudo inertia matrix.
References:
Definition at line 944 of file inertia.hpp.
Definition at line 955 of file inertia.hpp.
Definition at line 953 of file inertia.hpp.
Definition at line 951 of file inertia.hpp.
Definition at line 946 of file inertia.hpp.
Definition at line 954 of file inertia.hpp.
Definition at line 952 of file inertia.hpp.
Definition at line 947 of file inertia.hpp.
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inline |
Definition at line 961 of file inertia.hpp.
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inline |
Definition at line 1073 of file inertia.hpp.
Definition at line 1080 of file inertia.hpp.
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inlinestatic |
Constructs a PseudoInertiaTpl object from dynamic parameters.
dynamic_params | A 10-dimensional vector of dynamic parameters. |
Definition at line 1002 of file inertia.hpp.
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inlinestatic |
Constructs a PseudoInertiaTpl object from an InertiaTpl object.
inertia | An InertiaTpl object. |
Definition at line 1044 of file inertia.hpp.
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inlinestatic |
Constructs a PseudoInertiaTpl object from log Cholesky parameters.
log_cholesky | A 10-dimensional vector of log Cholesky parameters. |
Definition at line 1065 of file inertia.hpp.
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inlinestatic |
Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix.
pseudo_inertia | A 4x4 pseudo inertia matrix. |
Definition at line 987 of file inertia.hpp.
Converts the PseudoInertiaTpl object to dynamic parameters.
Definition at line 1022 of file inertia.hpp.
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inline |
Converts the PseudoInertiaTpl object to an InertiaTpl object.
Definition at line 1054 of file inertia.hpp.
Converts the PseudoInertiaTpl object to a 4x4 matrix.
Definition at line 972 of file inertia.hpp.
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friend |
Definition at line 1088 of file inertia.hpp.
Vector part of the pseudo inertia.
Definition at line 958 of file inertia.hpp.
Mass of the pseudo inertia.
Definition at line 957 of file inertia.hpp.
3x3 matrix part of the pseudo inertia
Definition at line 959 of file inertia.hpp.