pinocchio  2.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
pinocchio::motionSet Namespace Reference

Group motion actions. More...

Functions

template<int Op, typename ForceDerived , typename Mat , typename MatRet >
static void act (const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF)
 Action of a motion set on a force object. The input motion set is represented by a 6xN matrix whose each column represent a spatial motion. The output force set is represented by a 6xN matrix whose each column represent a spatial force.
 
template<typename ForceDerived , typename Mat , typename MatRet >
static void act (const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF)
 Default implementation with assignment operator=.
 
template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >
static void inertiaAction (const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
 Action of an Inertia matrix on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion.
 
template<typename Scalar , int Options, typename Mat , typename MatRet >
static void inertiaAction (const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
 Default implementation with assignment operator=.
 
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 motions, represented by a 6xN matrix whose columns represent a spatial motion.
 
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 > &iV, Eigen::MatrixBase< MatRet > const &jV)
 SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion.
 
template<typename Scalar , int Options, typename Mat , typename MatRet >
static void se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
 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 > &iV, Eigen::MatrixBase< MatRet > const &jV)
 Inverse SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion.
 
template<typename Scalar , int Options, typename Mat , typename MatRet >
static void se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
 Default implementation with assignment operator=.
 

Detailed Description

Group motion actions.