pinocchio  3.1.0 A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
MotionBase< Derived > Class Template Reference
Inheritance diagram for MotionBase< Derived >:
Collaboration diagram for MotionBase< Derived >:

## Public Member Functions

AngularType angular ()

ConstAngularType angular () const

template<typename V3Like >
void angular (const Eigen::MatrixBase< V3Like > &w)

Derived & const_cast_derived () const

template<typename OtherSpatialType >
MotionAlgebraAction< OtherSpatialType, Derived >::ReturnType cross (const OtherSpatialType &d) const

Derived & derived ()

const Derived & derived () const

void disp (std::ostream &os) const

template<typename ForceDerived >
Scalar dot (const ForceDense< ForceDerived > &f) const

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 ()

ConstLinearType linear () const

template<typename V3Like >
void linear (const Eigen::MatrixBase< V3Like > &v)

MOTION_TYPEDEF_TPL (Derived)

operator Matrix6 () const

operator PlainReturnType () const

operator Vector6 () const

template<typename M2 >
bool operator!= (const MotionBase< M2 > &other) const

template<typename OtherScalar >
internal::RHSScalarMultiplication< Derived, OtherScalar >::ReturnType operator* (const OtherScalar &alpha) const

Derived operator+ (const MotionBase< Derived > &v) const

Derived & operator+= (const MotionBase< Derived > &v)

Derived operator- () const

Derived operator- (const MotionBase< Derived > &v) const

Derived & operator-= (const MotionBase< Derived > &v)

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

template<typename M2 >
bool operator== (const MotionBase< M2 > &other) const

PlainReturnType plain () const

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

template<typename S2 , int O2>
SE3GroupAction< Derived >::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 $$\xi$$. More...

ToVectorReturnType toVector ()

ToVectorConstReturnType toVector () const

## Friends

std::ostream & operator<< (std::ostream &os, const MotionBase< Derived > &v)

## Detailed Description

### template<class Derived> class pinocchio::MotionBase< Derived >

Definition at line 13 of file motion-base.hpp.

## ◆ toHomogeneousMatrix()

 HomogeneousMatrixType toHomogeneousMatrix ( ) const
inline

The homogeneous representation of the motion vector $$\xi$$.

With $$\hat{\xi} = \left( \begin{array}{cc} \omega & v \\ 0 & 0 \\ \end{array} \right)$$,

${}^a\dot{M}_b = \hat{\xi} {}^aM_b$

Note
This function is provided for completeness, but it is not the best way to use Motion quantities in terms of sparsity exploitation and general efficiency. For integration, the recommended way is to use Motion vectors along with the integrate function.

Definition at line 109 of file motion-base.hpp.

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