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| InertiaTpl (const InertiaTpl &clone) |
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template<typename S2 , int O2> |
| InertiaTpl (const InertiaTpl< S2, O2 > &clone) |
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| InertiaTpl (const Matrix6 &I6) |
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| InertiaTpl (const Scalar &mass, const Vector3 &com, const Matrix3 &rotational_inertia) |
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| InertiaTpl (const Scalar &mass, const Vector3 &com, const Symmetric3 &rotational_inertia) |
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InertiaTpl & | __equl__ (const InertiaTpl &clone) |
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InertiaTpl & | __mequ__ (const InertiaTpl &Yb) |
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InertiaTpl | __minus__ (const InertiaTpl &Yb) const |
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template<typename MotionDerived > |
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options > | __mult__ (const MotionDense< MotionDerived > &v) const |
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template<typename MotionDerived , typename ForceDerived > |
void | __mult__ (const MotionDense< MotionDerived > &v, ForceDense< ForceDerived > &f) const |
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InertiaTpl & | __pequ__ (const InertiaTpl &Yb) |
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InertiaTpl | __plus__ (const InertiaTpl &Yb) const |
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template<typename NewScalar > |
InertiaTpl< NewScalar, Options > | cast () const |
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void | disp_impl (std::ostream &os) const |
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Symmetric3 & | inertia () |
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const Symmetric3 & | inertia () const |
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Matrix6 | inverse_impl () const |
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template<typename Matrix6Like > |
void | inverse_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const |
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bool | isApprox_impl (const InertiaTpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
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bool | isEqual (const InertiaTpl &Y2) const |
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bool | isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
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Vector3 & | lever () |
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const Vector3 & | lever () const |
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Scalar & | mass () |
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Scalar | mass () const |
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Matrix6 | matrix_impl () const |
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template<typename Matrix6Like > |
void | matrix_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const |
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InertiaTpl & | operator= (const InertiaTpl &clone) |
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template<typename S2 , int O2> |
InertiaTpl | se3Action_impl (const SE3Tpl< S2, O2 > &M) const |
| aI = aXb.act(bI)
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template<typename S2 , int O2> |
InertiaTpl | se3ActionInverse_impl (const SE3Tpl< S2, O2 > &M) const |
| bI = aXb.actInv(aI)
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void | setIdentity () |
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void | setRandom () |
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void | setZero () |
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| SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl) |
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Vector10 | toDynamicParameters () const |
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template<typename MotionDerived > |
Matrix6 | variation (const MotionDense< MotionDerived > &v) const |
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template<typename MotionDerived > |
Scalar | vtiv_impl (const MotionDense< MotionDerived > &v) const |
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template<typename MotionDerived > |
Force | vxiv (const MotionDense< MotionDerived > &v) const |
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InertiaTpl< _Scalar, _Options > & | const_cast_derived () const |
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InertiaTpl< _Scalar, _Options > & | derived () |
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const InertiaTpl< _Scalar, _Options > & | derived () const |
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void | disp (std::ostream &os) const |
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Symmetric3 & | inertia () |
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const Symmetric3 & | inertia () const |
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Matrix6 | inverse () const |
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void | inverse (const Eigen::MatrixBase< Matrix6Like > &mat) const |
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bool | isApprox (const InertiaTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
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bool | isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
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Matrix6 | ivx (const MotionDense< MotionDerived > &v) const |
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Vector3 & | lever () |
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const Vector3 & | lever () const |
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Scalar & | mass () |
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Scalar | mass () const |
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Matrix6 | matrix () const |
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void | matrix (const Eigen::MatrixBase< Matrix6Like > &mat) const |
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| operator Matrix6 () const |
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bool | operator!= (const InertiaTpl< _Scalar, _Options > &other) const |
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ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options > | operator* (const MotionDense< MotionDerived > &v) const |
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InertiaTpl< _Scalar, _Options > | operator+ (const InertiaTpl< _Scalar, _Options > &Yb) const |
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InertiaTpl< _Scalar, _Options > & | operator+= (const InertiaTpl< _Scalar, _Options > &Yb) |
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InertiaTpl< _Scalar, _Options > | operator- (const InertiaTpl< _Scalar, _Options > &Yb) const |
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InertiaTpl< _Scalar, _Options > & | operator-= (const InertiaTpl< _Scalar, _Options > &Yb) |
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InertiaTpl< _Scalar, _Options > & | operator= (const InertiaTpl< _Scalar, _Options > &clone) |
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bool | operator== (const InertiaTpl< _Scalar, _Options > &other) const |
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InertiaTpl< _Scalar, _Options > | se3Action (const SE3Tpl< S2, O2 > &M) const |
| aI = aXb.act(bI)
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InertiaTpl< _Scalar, _Options > | se3ActionInverse (const SE3Tpl< S2, O2 > &M) const |
| bI = aXb.actInv(aI)
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void | setIdentity () |
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void | setRandom () |
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void | setZero () |
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| SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl< _Scalar, _Options >) |
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Matrix6 | variation (const MotionDense< MotionDerived > &v) const |
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Scalar | vtiv (const MotionDense< MotionDerived > &v) const |
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Matrix6 | vxi (const MotionDense< MotionDerived > &v) const |
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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...
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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...
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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...
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template<typename Vector10Like > |
static InertiaTpl | FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > ¶ms) |
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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...
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static InertiaTpl | FromSphere (const Scalar mass, const Scalar radius) |
| Computes the Inertia of a sphere defined by its mass and its radius. More...
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static InertiaTpl | Identity () |
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template<typename MotionDerived , typename M6 > |
static void | ivx_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout) |
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static InertiaTpl | Random () |
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template<typename MotionDerived , typename M6 > |
static void | vxi_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout) |
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static InertiaTpl | Zero () |
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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...
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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...
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template<typename _Scalar, int _Options>
struct pinocchio::InertiaTpl< _Scalar, _Options >
Definition at line 262 of file inertia.hpp.