Inheritance diagram for ForceDense< Derived >:

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Collaboration diagram for ForceDense< Derived >:

Public Types
typedef ForceBase< Derived >	Base

typedef traits< Derived >::ForceRefType	ForceRefType

Public Member Functions
template<typename OtherScalar >
ForcePlain	__div__ (const OtherScalar &alpha) const

template<typename M1 >
Derived &	__mequ__ (const ForceDense< M1 > &v)

template<typename M1 >
ForcePlain	__minus__ (const ForceDense< M1 > &v) const

template<typename OtherScalar >
ForcePlain	__mult__ (const OtherScalar &alpha) const

ForcePlain	__opposite__ () const

template<typename M1 >
Derived &	__pequ__ (const ForceDense< M1 > &v)

template<typename M1 >
ForcePlain	__plus__ (const ForceDense< M1 > &v) const

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 &	derived ()

const Derived &	derived () const

void	disp_impl (std::ostream &os) const

template<typename F1 >
Scalar	dot (const MotionDense< F1 > &phi) const

	FORCE_TYPEDEF_TPL (Derived)

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

template<typename M2 >
bool	isApprox (const ForceDense< M2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

template<typename D2 >
bool	isApprox_impl (const ForceDense< D2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

template<typename D2 >
bool	isEqual_impl (const ForceBase< D2 > &other) const

template<typename D2 >
bool	isEqual_impl (const ForceDense< D2 > &other) const

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

bool	isZero_impl (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 >
ForcePlain	motionAction (const MotionDense< M1 > &v) const

template<typename M1 , typename M2 >
void	motionAction (const MotionDense< M1 > &v, ForceDense< M2 > &fout) const

template<typename F1 >
ForcePlain	operator+ (const ForceDense< F1 > &f) const

template<typename F1 >
Derived &	operator+= (const ForceBase< F1 > &f)

template<typename F1 >
Derived &	operator+= (const ForceDense< F1 > &f)

ForcePlain	operator- () const

template<typename F1 >
ForcePlain	operator- (const ForceDense< F1 > &f) const

template<typename M1 >
Derived &	operator-= (const ForceDense< M1 > &v)

template<typename V6 >
Derived &	operator= (const Eigen::MatrixBase< V6 > &v)

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

Derived &	operator= (const ForceDense &other)

template<typename D2 >
Derived &	operator= (const ForceDense< D2 > &other)

ForceRefType	ref ()

template<typename S2 , int O2>
ForcePlain	se3Action_impl (const SE3Tpl< S2, O2 > &m) const

template<typename S2 , int O2, typename D2 >
void	se3Action_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const

template<typename S2 , int O2>
ForcePlain	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const

template<typename S2 , int O2, typename D2 >
void	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const

template<typename D2 >
Derived &	set (const ForceDense< D2 > &other)

Derived &	setRandom ()

Derived &	setZero ()

Public Member Functions inherited from ForceBase< Derived >
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...

Protected Member Functions
	ForceDense (const ForceDense &)=delete

Detailed Description

template<typename Derived>
class pinocchio::ForceDense< Derived >

Definition at line 24 of file force-dense.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

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 ( typename V3Like )

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.

◆ isApprox()

bool isApprox

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

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

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 ( typename V3Like )

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=()

Derived& operator=

inline

Copies the Derived Force into *this.

Returns: a reference to *this

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

◆ ref()

ForceRefType ref ( )

inline

Returns: a ForceRef on this.

Definition at line 252 of file force-dense.hpp.

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

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

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename Derived> class pinocchio::ForceDense< Derived >

Member Function Documentation

◆ angular() [1/3]

◆ angular() [2/3]

◆ angular() [3/3]

◆ isApprox()

◆ isZero()

◆ linear() [1/3]

◆ linear() [2/3]

◆ linear() [3/3]

◆ operator=()

◆ ref()

template<typename Derived>
class pinocchio::ForceDense< Derived >