Inheritance diagram for InertiaBase< Derived >:

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Collaboration diagram for InertiaBase< Derived >:

Public Member Functions
Derived &	const_cast_derived () const

Derived &	derived ()

const Derived &	derived () const

void	disp (std::ostream &os) const

Symmetric3 &	inertia ()

const Symmetric3 &	inertia () const

Matrix6	inverse () const

template<typename Matrix6Like >
void	inverse (const Eigen::MatrixBase< Matrix6Like > &mat) 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

template<typename MotionDerived >
Matrix6	ivx (const MotionDense< MotionDerived > &v) const

Vector3 &	lever ()

const Vector3 &	lever () const

Scalar &	mass ()

Scalar	mass () const

Matrix6	matrix () const

template<typename Matrix6Like >
void	matrix (const Eigen::MatrixBase< Matrix6Like > &mat) const

	operator Matrix6 () const

bool	operator!= (const Derived &other) const

template<typename MotionDerived >
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options >	operator* (const MotionDense< MotionDerived > &v) const

Derived	operator+ (const Derived &Yb) const

Derived &	operator+= (const Derived &Yb)

Derived	operator- (const Derived &Yb) const

Derived &	operator-= (const Derived &Yb)

Derived &	operator= (const Derived &clone)

bool	operator== (const Derived &other) const

template<typename S2 , int O2>
Derived	se3Action (const SE3Tpl< S2, O2 > &M) const
	aI = aXb.act(bI)

template<typename S2 , int O2>
Derived	se3ActionInverse (const SE3Tpl< S2, O2 > &M) const
	bI = aXb.actInv(aI)

void	setIdentity ()

void	setRandom ()

void	setZero ()

	SPATIAL_TYPEDEF_TEMPLATE (Derived)

template<typename MotionDerived >
Matrix6	variation (const MotionDense< MotionDerived > &v) const

template<typename MotionDerived >
Scalar	vtiv (const MotionDense< MotionDerived > &v) const

template<typename MotionDerived >
Matrix6	vxi (const MotionDense< MotionDerived > &v) const

Static Public Member Functions
template<typename MotionDerived , typename M6 >
static void	ivx (const MotionDense< MotionDerived > &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \). More...

template<typename MotionDerived , typename M6 >
static void	vxi (const MotionDense< MotionDerived > &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \). More...

Friends
std::ostream &	operator<< (std::ostream &os, const InertiaBase< Derived > &X)

Additional Inherited Members
Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Detailed Description

template<class Derived>
struct pinocchio::InertiaBase< Derived >

Definition at line 18 of file inertia.hpp.

Member Function Documentation

◆ ivx()

static void ivx	(	const MotionDense< MotionDerived > &	v,
		const Derived &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \).

Parameters

[in]	v	The spatial velocity of the frame supporting the inertia.
[in]	I	The spatial inertia in motion.
[out]	Iout	The time derivative of the inertia I.

Definition at line 168 of file inertia.hpp.

◆ vxi()

static void vxi	(	const MotionDense< MotionDerived > &	v,
		const Derived &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \).

Parameters

[in]	v	The spatial velocity of the frame supporting the inertia.
[in]	I	The spatial inertia in motion.
[out]	Iout	The time derivative of the inertia I.

Definition at line 144 of file inertia.hpp.

The documentation for this struct was generated from the following file:

include/pinocchio/spatial/inertia.hpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class Derived> struct pinocchio::InertiaBase< Derived >

Member Function Documentation

◆ ivx()

◆ vxi()

template<class Derived>
struct pinocchio::InertiaBase< Derived >