Inheritance diagram for InertiaTpl< _Scalar, _Options >:

Collaboration diagram for InertiaTpl< _Scalar, _Options >:

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Public Types
enum	{ Options = _Options }

typedef Symmetric3::AlphaSkewSquare	AlphaSkewSquare

typedef LogCholeskyParametersTpl< Scalar, Options >	LogCholeskyParameters

typedef Eigen::Matrix< Scalar, 10, 10, Options >	Matrix10

typedef PseudoInertiaTpl< Scalar, Options >	PseudoInertia

typedef Eigen::Matrix< Scalar, 10, 1, Options >	Vector10

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

Public Member Functions
	InertiaTpl (const InertiaTpl &clone)

template<typename S2 , int O2>
	InertiaTpl (const InertiaTpl< S2, O2 > &clone)

	InertiaTpl (const Matrix6 &I6)

	InertiaTpl (const Scalar &mass, const Vector3 &com, const Matrix3 &rotational_inertia)

	InertiaTpl (const Scalar &mass, const Vector3 &com, const Symmetric3 &rotational_inertia)

InertiaTpl &	__equl__ (const InertiaTpl &clone)

InertiaTpl &	__mequ__ (const InertiaTpl &Yb)

InertiaTpl	__minus__ (const InertiaTpl &Yb) const

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

template<typename MotionDerived , typename ForceDerived >
void	__mult__ (const MotionDense< MotionDerived > &v, ForceDense< ForceDerived > &f) const

InertiaTpl &	__pequ__ (const InertiaTpl &Yb)

InertiaTpl	__plus__ (const InertiaTpl &Yb) const

template<typename NewScalar >
InertiaTpl< NewScalar, Options >	cast () const

void	disp_impl (std::ostream &os) const

Symmetric3 &	inertia ()

const Symmetric3 &	inertia () const

Matrix6	inverse_impl () const

template<typename Matrix6Like >
void	inverse_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const

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

bool	isEqual (const InertiaTpl &Y2) const

bool	isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

Vector3 &	lever ()

const Vector3 &	lever () const

Scalar &	mass ()

Scalar	mass () const

Matrix6	matrix_impl () const

template<typename Matrix6Like >
void	matrix_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const

InertiaTpl &	operator= (const InertiaTpl &clone)

template<typename S2 , int O2>
InertiaTpl	se3Action_impl (const SE3Tpl< S2, O2 > &M) const
	aI = aXb.act(bI)

template<typename S2 , int O2>
InertiaTpl	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &M) const
	bI = aXb.actInv(aI)

void	setIdentity ()

void	setRandom ()

void	setZero ()

	SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl)

Vector10	toDynamicParameters () const

PseudoInertia	toPseudoInertia () const
	Convert the InertiaTpl object to a 4x4 pseudo inertia matrix. More...

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

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

template<typename MotionDerived >
Force	vxiv (const MotionDense< MotionDerived > &v) const

Public Member Functions inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
InertiaTpl< _Scalar, _Options > &	const_cast_derived () const

InertiaTpl< _Scalar, _Options > &	derived ()

const InertiaTpl< _Scalar, _Options > &	derived () const

void	disp (std::ostream &os) const

Symmetric3 &	inertia ()

const Symmetric3 &	inertia () const

Matrix6	inverse () const

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

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

bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

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

Vector3 &	lever ()

const Vector3 &	lever () const

Scalar &	mass ()

Scalar	mass () const

Matrix6	matrix () const

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

	operator Matrix6 () const

bool	operator!= (const InertiaTpl< _Scalar, _Options > &other) const

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

InertiaTpl< _Scalar, _Options >	operator+ (const InertiaTpl< _Scalar, _Options > &Yb) const

InertiaTpl< _Scalar, _Options > &	operator+= (const InertiaTpl< _Scalar, _Options > &Yb)

InertiaTpl< _Scalar, _Options >	operator- (const InertiaTpl< _Scalar, _Options > &Yb) const

InertiaTpl< _Scalar, _Options > &	operator-= (const InertiaTpl< _Scalar, _Options > &Yb)

InertiaTpl< _Scalar, _Options > &	operator= (const InertiaTpl< _Scalar, _Options > &clone)

bool	operator== (const InertiaTpl< _Scalar, _Options > &other) const

InertiaTpl< _Scalar, _Options >	se3Action (const SE3Tpl< S2, O2 > &M) const
	aI = aXb.act(bI)

InertiaTpl< _Scalar, _Options >	se3ActionInverse (const SE3Tpl< S2, O2 > &M) const
	bI = aXb.actInv(aI)

void	setIdentity ()

void	setRandom ()

void	setZero ()

	SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl< _Scalar, _Options >)

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

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

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

Static Public Member Functions
static InertiaTpl	FromBox (const Scalar mass, const Scalar x, const Scalar y, const Scalar z)
	Computes the Inertia of a box defined by its mass and main dimensions (x,y,z). More...

static InertiaTpl	FromCapsule (const Scalar mass, const Scalar radius, const Scalar height)
	Computes the Inertia of a capsule defined by its mass, radius and length along the Z axis. Assumes a uniform density. More...

static InertiaTpl	FromCylinder (const Scalar mass, const Scalar radius, const Scalar length)
	Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis. More...

template<typename Vector10Like >
static InertiaTpl	FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > &params)

static InertiaTpl	FromEllipsoid (const Scalar mass, const Scalar x, const Scalar y, const Scalar z)
	Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z). More...

static InertiaTpl	FromLogCholeskyParameters (const LogCholeskyParameters &log_cholesky)
	Create an InertiaTpl object from log Cholesky parameters. More...

static InertiaTpl	FromPseudoInertia (const PseudoInertia &pseudo_inertia)
	Create an InertiaTpl object from a PseudoInertia object. More...

static InertiaTpl	FromSphere (const Scalar mass, const Scalar radius)
	Computes the Inertia of a sphere defined by its mass and its radius. More...

static InertiaTpl	Identity ()

template<typename MotionDerived , typename M6 >
static void	ivx_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout)

static InertiaTpl	Random ()

template<typename MotionDerived , typename M6 >
static void	vxi_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout)

static InertiaTpl	Zero ()

Static Public Member Functions inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
static void	ivx (const MotionDense< MotionDerived > &v, const InertiaTpl< _Scalar, _Options > &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...

static void	vxi (const MotionDense< MotionDerived > &v, const InertiaTpl< _Scalar, _Options > &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...

Protected Attributes
Vector3	m_com

Symmetric3	m_inertia

Scalar	m_mass

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::InertiaTpl< _Scalar, _Options >

Definition at line 264 of file inertia.hpp.

Member Function Documentation

◆ cast()

InertiaTpl<NewScalar, Options> cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 911 of file inertia.hpp.

◆ FromBox()

static InertiaTpl FromBox	(	const Scalar	mass,
		const Scalar	x,
		const Scalar	y,
		const Scalar	z
	)

inlinestatic

Computes the Inertia of a box defined by its mass and main dimensions (x,y,z).

Parameters

[in]	mass	of the box.
[in]	x	dimension along the local X axis.
[in]	y	dimension along the local Y axis.
[in]	z	dimension along the local Z axis.

Definition at line 423 of file inertia.hpp.

◆ FromCapsule()

static InertiaTpl FromCapsule	(	const Scalar	mass,
		const Scalar	radius,
		const Scalar	height
	)

inlinestatic

Computes the Inertia of a capsule defined by its mass, radius and length along the Z axis. Assumes a uniform density.

Parameters

[in]	mass	of the capsule.
[in]	radius	of the capsule.
[in]	height	of the capsule.

Definition at line 439 of file inertia.hpp.

◆ FromCylinder()

static InertiaTpl FromCylinder	(	const Scalar	mass,
		const Scalar	radius,
		const Scalar	length
	)

inlinestatic

Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis.

Parameters

[in]	mass	of the cylinder.
[in]	radius	of the cylinder.
[in]	length	of the cylinder.

Definition at line 406 of file inertia.hpp.

◆ FromDynamicParameters()

static InertiaTpl FromDynamicParameters ( const Eigen::MatrixBase< Vector10Like > & params )

inlinestatic

Builds and inertia matrix from a vector of dynamic parameters.

Parameters

[in] params The dynamic parameters.

The parameters are given as \( v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T \) where \( I = I_C + mS^T(c)S(c) \) and \( I_C \) has its origin at the barycenter.

Definition at line 561 of file inertia.hpp.

◆ FromEllipsoid()

static InertiaTpl FromEllipsoid	(	const Scalar	mass,
		const Scalar	x,
		const Scalar	y,
		const Scalar	z
	)

inlinestatic

Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z).

Parameters

[in]	mass	of the ellipsoid.
[in]	x	semi-axis dimension along the local X axis.
[in]	y	semi-axis dimension along the local Y axis.
[in]	z	semi-axis dimension along the local Z axis.

Definition at line 389 of file inertia.hpp.

◆ FromLogCholeskyParameters()

static InertiaTpl FromLogCholeskyParameters ( const LogCholeskyParameters & log_cholesky )

inlinestatic

Create an InertiaTpl object from log Cholesky parameters.

Parameters

log_cholesky A log cholesky parameters object

Returns: An InertiaTpl object.

Definition at line 604 of file inertia.hpp.

◆ FromPseudoInertia()

static InertiaTpl FromPseudoInertia ( const PseudoInertia & pseudo_inertia )

inlinestatic

Create an InertiaTpl object from a PseudoInertia object.

Parameters

pseudo_inertia A PseudoInertia object.

Returns: An InertiaTpl object.

Definition at line 581 of file inertia.hpp.

◆ FromSphere()

static InertiaTpl FromSphere	(	const Scalar	mass,
		const Scalar	radius
	)

inlinestatic

Computes the Inertia of a sphere defined by its mass and its radius.

Parameters

[in]	mass	of the sphere.
[in]	radius	of the sphere.

Definition at line 374 of file inertia.hpp.

◆ toDynamicParameters()

Vector10 toDynamicParameters ( ) const

inline

Returns the representation of the matrix as a vector of dynamic parameters. The parameters are given as \( v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T \) where \( c \) is the center of mass, \( I = I_C + mS^T(c)S(c) \) and \( I_C \) has its origin at the barycenter and \( S(c) \) is the the skew matrix representation of the cross product operator.

Definition at line 541 of file inertia.hpp.

◆ toPseudoInertia()

PseudoInertia toPseudoInertia ( ) const

inline

Convert the InertiaTpl object to a 4x4 pseudo inertia matrix.

Returns: A 4x4 pseudo inertia matrix.

Definition at line 591 of file inertia.hpp.

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

include/pinocchio/spatial/fwd.hpp
include/pinocchio/spatial/inertia.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

template<typename _Scalar, int _Options> struct pinocchio::InertiaTpl< _Scalar, _Options >

Member Function Documentation

◆ cast()

◆ FromBox()

◆ FromCapsule()

◆ FromCylinder()

◆ FromDynamicParameters()

◆ FromEllipsoid()

◆ FromLogCholeskyParameters()

◆ FromPseudoInertia()

◆ FromSphere()

◆ toDynamicParameters()

◆ toPseudoInertia()

template<typename _Scalar, int _Options>
struct pinocchio::InertiaTpl< _Scalar, _Options >