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

## Public Types

typedef MotionBase< Derived > Base

typedef traits< Derived >::MotionRefType MotionRefType

## Public Member Functions

template<typename OtherScalar >
MotionPlain __div__ (const OtherScalar &alpha) const

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

template<typename M1 >
MotionPlain __minus__ (const MotionDense< M1 > &v) const

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

MotionPlain __opposite__ () const

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

template<typename M1 >
MotionPlain __plus__ (const MotionDense< M1 > &v) const

AngularType angular ()

ConstAngularType angular () const

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

template<typename D >
MotionAlgebraAction< D, Derived >::ReturnType cross_impl (const D &d) const

Derived & derived ()

const Derived & derived () const

void disp_impl (std::ostream &os) const

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

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

template<typename M2 >
bool isApprox (const MotionDense< M2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

template<typename D2 >
bool isApprox_impl (const MotionDense< D2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

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

template<typename D2 >
bool isEqual_impl (const MotionDense< 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 ()

ConstLinearType linear () const

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

MOTION_TYPEDEF_TPL (Derived)

template<typename M1 >
MotionPlain motionAction (const MotionDense< M1 > &v) const

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

template<typename M1 >
MotionPlain operator+ (const MotionDense< M1 > &v) const

template<typename M1 >
Derived & operator+= (const MotionBase< M1 > &v)

template<typename M1 >
Derived & operator+= (const MotionDense< M1 > &v)

MotionPlain operator- () const

template<typename M1 >
MotionPlain operator- (const MotionDense< M1 > &v) const

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

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

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

Derived & operator= (const MotionDense &other)

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

MotionRefType ref ()

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action_impl (const SE3Tpl< S2, O2 > &m) const

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

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const

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

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

Derived & setRandom ()

Derived & setZero ()

ActionMatrixType toActionMatrix_impl () const

ActionMatrixType toDualActionMatrix_impl () const

HomogeneousMatrixType toHomogeneousMatrix_impl () const

Public Member Functions inherited from MotionBase< Derived >
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

## Protected Member Functions

MotionDense (const MotionDense &)=delete

## Detailed Description

### template<typename Derived> class pinocchio::MotionDense< Derived >

Definition at line 26 of file motion-dense.hpp.

## ◆ ref()

 MotionRefType ref ( )
inline
Returns
a MotionRef on this.

Definition at line 297 of file motion-dense.hpp.

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