pinocchio  3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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ForceSetTpl< _Scalar, _Options > Class Template Reference

Classes

struct  Block
 

Public Types

enum  { Options = _Options }
 
typedef Eigen::Matrix< Scalar, 3, 3, Options > Matrix3
 
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options > Matrix3x
 
typedef Eigen::Matrix< Scalar, 6, 6, Options > Matrix6
 
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
 
typedef _Scalar Scalar
 
typedef SE3Tpl< Scalar, Options > SE3
 
typedef Eigen::Matrix< Scalar, 3, 1, Options > Vector3
 
typedef Eigen::Matrix< Scalar, 6, 1, Options > Vector6
 

Public Member Functions

 ForceSetTpl (const int &ncols)
 
 ForceSetTpl (const Matrix3x &linear, const Matrix3x &angular)
 
const Matrix3x & angular () const
 
Block block (const int &idx, const int &len)
 
const Matrix3x & linear () const
 
Matrix6x matrix () const
 
 operator Matrix6x () const
 
ForceSetTpl se3Action (const SE3 &m) const
 af = aXb.act(bf)
 
ForceSetTpl se3ActionInverse (const SE3 &m) const
 bf = aXb.actInv(af)
 

Friends

std::ostream & operator<< (std::ostream &os, const ForceSetTpl &phi)
 

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::ForceSetTpl< _Scalar, _Options >

Definition at line 14 of file force-set.hpp.

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