pinocchio  3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Member Functions | Friends | List of all members
MotionBase< Derived > Class Template Reference
Spatial
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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.

Member Function Documentation

◆ 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: