Base interface for forces representation. More...

#include <pinocchio/spatial/force-base.hpp>

Inheritance diagram for ForceBase< Derived >:

[legend]

Collaboration diagram for ForceBase< Derived >:

Public Member Functions
AngularType	angular ()
	Return the angular part of the force vector. More...

ConstAngularType	angular () const
	Return the angular part of the force vector. More...

template<typename V3Like >
void	angular (const Eigen::MatrixBase< V3Like > &n)
	Set the angular part of the force vector. More...

Derived &	const_cast_derived () const

Derived &	derived ()

const Derived &	derived () const

void	disp (std::ostream &os) const

template<typename MotionDerived >
Scalar	dot (const MotionDense< MotionDerived > &m) const

	FORCE_TYPEDEF_TPL (Derived)

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 ()
	Return the linear part of the force vector. More...

ConstLinearType	linear () const
	Return the linear part of the force vector. More...

template<typename V3Like >
void	linear (const Eigen::MatrixBase< V3Like > &f)
	Set the linear part of the force vector. More...

template<typename M1 >
MotionAlgebraAction< Derived, M1 >::ReturnType	motionAction (const MotionDense< M1 > &v) const

	operator Vector6 () const

template<typename F2 >
bool	operator!= (const ForceBase< F2 > &other) const

template<typename OtherScalar >
ForcePlain	operator* (const OtherScalar &alpha) const

Derived	operator+ (const ForceBase< Derived > &phi) const

Derived &	operator+= (const ForceBase< Derived > &phi)
	Replaces this by this + other. More...

Derived	operator- () const

Derived	operator- (const ForceBase< Derived > &phi) const

Derived &	operator-= (const ForceBase< Derived > &phi)
	Replaces this by this - other. More...

template<typename OtherScalar >
ForcePlain	operator/ (const OtherScalar &alpha) const

Derived &	operator= (const ForceBase< Derived > &other)
	Copies the Derived Force into *this. More...

template<typename F2 >
bool	operator== (const ForceBase< F2 > &other) const

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const
	Transform from A to B coordinates the Force represented by *this such that. More...

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
	Transform from B to A coordinates the Force represented by *this such that. More...

ToVectorReturnType	toVector ()
	Return the force as an Eigen vector. More...

ToVectorConstReturnType	toVector () const
	Return the force as an Eigen vector. More...

Friends
std::ostream &	operator<< (std::ostream &os, const ForceBase< Derived > &X)

Detailed Description

template<class Derived>
class pinocchio::ForceBase< Derived >

Base interface for forces representation.

The Class implements all

This class hierarchy represents a spatial force, e.g. a spatial impulse or force associated to a body. The spatial force is the mathematical representation of \( se^{*}(3) \), the dual of \( se(3) \).

Template Parameters

Derived { description }

Definition at line 23 of file force-base.hpp.

Member Function Documentation

◆ angular() [1/3]

AngularType angular ( )

inline

Return the angular part of the force vector.

Returns: The 3D vector associated to the angular part of the 6D force vector

Definition at line 63 of file force-base.hpp.

◆ angular() [2/3]

ConstAngularType angular ( ) const

inline

Return the angular part of the force vector.

Returns: The 3D vector associated to the angular part of the 6D force vector

Definition at line 47 of file force-base.hpp.

◆ angular() [3/3]

void angular ( const Eigen::MatrixBase< V3Like > & n )

inline

Set the angular part of the force vector.

Template Parameters

V3Like A vector 3 like type.

Parameters

[in] n

Definition at line 82 of file force-base.hpp.

◆ dot()

Scalar dot ( const MotionDense< MotionDerived > & m ) const

inline

Returns: the dot product of *this with m *

Definition at line 229 of file force-base.hpp.

◆ isApprox()

bool isApprox	(	const Derived &	other,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Returns: true if *this is approximately equal to other, within the precision given by prec.

Definition at line 148 of file force-base.hpp.

◆ isZero()

bool isZero ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Returns: true if the component of the linear and angular part of the Spatial Force are approximately equal to zero, within the precision given by prec.

Definition at line 158 of file force-base.hpp.

◆ linear() [1/3]

LinearType linear ( )

inline

Return the linear part of the force vector.

Returns: The 3D vector associated to the linear part of the 6D force vector

Definition at line 69 of file force-base.hpp.

◆ linear() [2/3]

ConstLinearType linear ( ) const

inline

Return the linear part of the force vector.

Returns: The 3D vector associated to the linear part of the 6D force vector

Definition at line 57 of file force-base.hpp.

◆ linear() [3/3]

void linear ( const Eigen::MatrixBase< V3Like > & f )

inline

Set the linear part of the force vector.

Template Parameters

V3Like A vector 3 like type.

Parameters

[in] f

Definition at line 95 of file force-base.hpp.

◆ operator!=()

bool operator!= ( const ForceBase< F2 > & other ) const

inline

Returns: true if at least one coefficient of *this and other does not match.

Definition at line 141 of file force-base.hpp.

◆ operator*()

ForcePlain operator* ( const OtherScalar & alpha ) const

inline

Returns: an expression of *this scaled by the factor alpha

Definition at line 199 of file force-base.hpp.

◆ operator+()

Derived operator+ ( const ForceBase< Derived > & phi ) const

inline

Returns: an expression of the sum of *this and other

Definition at line 191 of file force-base.hpp.

◆ operator+=()

Derived& operator+= ( const ForceBase< Derived > & phi )

inline

Replaces *this by *this + other.

Returns: a reference to *this

Definition at line 175 of file force-base.hpp.

◆ operator-() [1/2]

Derived operator- ( ) const

inline

Returns: an expression of the opposite of *this

Definition at line 214 of file force-base.hpp.

◆ operator-() [2/2]

Derived operator- ( const ForceBase< Derived > & phi ) const

inline

Returns: an expression of the difference of *this and phi

Definition at line 221 of file force-base.hpp.

◆ operator-=()

Derived& operator-= ( const ForceBase< Derived > & phi )

inline

Replaces *this by *this - other.

Returns: a reference to *this

Definition at line 184 of file force-base.hpp.

◆ operator/()

ForcePlain operator/ ( const OtherScalar & alpha ) const

inline

Returns: an expression of *this divided by the factor alpha

Definition at line 207 of file force-base.hpp.

◆ operator=()

Derived& operator= ( const ForceBase< Derived > & other )

inline

Copies the Derived Force into *this.

Returns: a reference to *this

Definition at line 166 of file force-base.hpp.

◆ operator==()

bool operator== ( const ForceBase< F2 > & other ) const

inline

Returns: true if each coefficients of *this and other are all exactly equal.

Warning: When using floating point scalar values you probably should rather use a fuzzy comparison such as isApprox()

Definition at line 133 of file force-base.hpp.

◆ se3Action()

SE3GroupAction<Derived>::ReturnType se3Action ( const SE3Tpl< S2, O2 > & m ) const

inline

Transform from A to B coordinates the Force represented by *this such that.

\begin{equation*} {}^{B}f = {}^{B}X_A^* * {}^{A}f \end{equation*}

Parameters

[in] m The rigid transformation \( {}^{B}m_A \) whose coordinates transform for forces is {}^{B}X_A^*

Returns: an expression of the force expressed in the new coordinates

Definition at line 247 of file force-base.hpp.

◆ se3ActionInverse()

SE3GroupAction<Derived>::ReturnType se3ActionInverse ( const SE3Tpl< S2, O2 > & m ) const

inline

Transform from B to A coordinates the Force represented by *this such that.

\begin{equation*} {}^{A}f = {}^{A}X_B^* * {}^{A}f \end{equation*}

Parameters

[in] m The rigid transformation \( {}^{B}m_A \) whose coordinates transform for forces is {}^{B}X_A^*

Returns: an expression of the force expressed in the new coordinates

Definition at line 265 of file force-base.hpp.

◆ toVector() [1/2]

ToVectorReturnType toVector ( )

inline

Return the force as an Eigen vector.

Returns: The 6D vector \( \phi \) such that
\begin{equation*} {}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix} \end{equation*}

Definition at line 114 of file force-base.hpp.

◆ toVector() [2/2]

ToVectorConstReturnType toVector ( ) const

inline

Return the force as an Eigen vector.

Returns: The 6D vector \( \phi \) such that
\begin{equation*} {}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix} \end{equation*}

Definition at line 108 of file force-base.hpp.

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

include/pinocchio/context/casadi.hpp
include/pinocchio/spatial/force-base.hpp

Public Member Functions

Friends

Detailed Description

template<class Derived> class pinocchio::ForceBase< Derived >

Member Function Documentation

◆ angular() [1/3]

◆ angular() [2/3]

◆ angular() [3/3]

◆ dot()

◆ isApprox()

◆ isZero()

◆ linear() [1/3]

◆ linear() [2/3]

◆ linear() [3/3]

◆ operator!=()

◆ operator*()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator=()

◆ operator==()

◆ se3Action()

◆ se3ActionInverse()

◆ toVector() [1/2]

◆ toVector() [2/2]

template<class Derived>
class pinocchio::ForceBase< Derived >