pinocchio::forceSet Namespace Reference

Group force actions. More...

Functions
template<int Op, typename MotionDerived , typename Mat , typename MatRet >
static void	motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Action of a motion on a set of forces, represented by a 6xN matrix whose each column represent a spatial force.
template<typename MotionDerived , typename Mat , typename MatRet >
static void	motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Default implementation with assignment operator=.
template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial force.
template<typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Default implementation with assignment operator=.
template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Inverse SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial force.
template<typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Default implementation with assignment operator=.

Detailed Description

Group force actions.