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 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

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	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 262 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 869 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 418 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 434 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 401 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 556 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 384 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 369 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 536 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()

◆ FromSphere()

◆ toDynamicParameters()

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