PseudoInertiaTpl< _Scalar, _Options > Struct Template Reference

A structure representing a pseudo inertia matrix. More...

#include <pinocchio/spatial/inertia.hpp>

Public Types
enum	{ Options = _Options }
typedef LogCholeskyParametersTpl< Scalar, Options >	LogCholeskyParameters
typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3
typedef Eigen::Matrix< Scalar, 4, 4, Options >	Matrix4
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, 10, 1, Options >	Vector10
typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3

Public Member Functions
	PseudoInertiaTpl (Scalar mass, const Vector3 &h, const Matrix3 &sigma)
template<typename NewScalar >
PseudoInertiaTpl< NewScalar, Options >	cast () const
void	disp_impl (std::ostream &os) const
Vector10	toDynamicParameters () const
	Converts the PseudoInertiaTpl object to dynamic parameters. More...
InertiaTpl< Scalar, Options >	toInertia () const
	Converts the PseudoInertiaTpl object to an InertiaTpl object. More...
Matrix4	toMatrix () const
	Converts the PseudoInertiaTpl object to a 4x4 matrix. More...

Static Public Member Functions
template<typename Vector10Like >
static PseudoInertiaTpl	FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > &dynamic_params)
	Constructs a PseudoInertiaTpl object from dynamic parameters. More...
static PseudoInertiaTpl	FromInertia (const InertiaTpl< Scalar, Options > &inertia)
	Constructs a PseudoInertiaTpl object from an InertiaTpl object. More...
static PseudoInertiaTpl	FromLogCholeskyParameters (const LogCholeskyParameters &log_cholesky)
	Constructs a PseudoInertiaTpl object from log Cholesky parameters. More...
static PseudoInertiaTpl	FromMatrix (const Matrix4 &pseudo_inertia)
	Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix. More...

Public Attributes
Vector3	h
	Vector part of the pseudo inertia.
Scalar	mass
	Mass of the pseudo inertia.
Matrix3	sigma
	3x3 matrix part of the pseudo inertia

Friends
std::ostream &	operator<< (std::ostream &os, const PseudoInertiaTpl &pi)

Detailed Description

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

A structure representing a pseudo inertia matrix.

References:

• Wensing, Patrick M., Sangbae Kim, and Jean-Jacques E. Slotine. "Linear matrix inequalities for physically consistent inertial parameter identification: A statistical perspective on the mass distribution." IEEE Robotics and Automation Letters 3.1 (2017): 60-67.

Definition at line 944 of file inertia.hpp.

Member Function Documentation

cast()

PseudoInertiaTpl<NewScalar, Options> cast ( ) const

inline

Returns

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

Definition at line 1073 of file inertia.hpp.

FromDynamicParameters()

static PseudoInertiaTpl FromDynamicParameters ( const Eigen::MatrixBase< Vector10Like > &  dynamic_params )

inlinestatic

Constructs a PseudoInertiaTpl object from dynamic parameters.

Parameters

dynamic_params

A 10-dimensional vector of dynamic parameters.

Returns

A PseudoInertiaTpl object.

Definition at line 1002 of file inertia.hpp.

FromInertia()

static PseudoInertiaTpl FromInertia ( const InertiaTpl< Scalar, Options > &  inertia )

inlinestatic

Constructs a PseudoInertiaTpl object from an InertiaTpl object.

Parameters

inertia

An InertiaTpl object.

Returns

A PseudoInertiaTpl object.

Definition at line 1044 of file inertia.hpp.

FromLogCholeskyParameters()

static PseudoInertiaTpl FromLogCholeskyParameters ( const LogCholeskyParameters &  log_cholesky )

inlinestatic

Constructs a PseudoInertiaTpl object from log Cholesky parameters.

Parameters

log_cholesky

A 10-dimensional vector of log Cholesky parameters.

Returns

A PseudoInertiaTpl object.

Definition at line 1065 of file inertia.hpp.

FromMatrix()

static PseudoInertiaTpl FromMatrix ( const Matrix4 &  pseudo_inertia )

inlinestatic

Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix.

Parameters

pseudo_inertia

A 4x4 pseudo inertia matrix.

Returns

A PseudoInertiaTpl object.

Definition at line 987 of file inertia.hpp.

toDynamicParameters()

Vector10 toDynamicParameters ( ) const

inline

Converts the PseudoInertiaTpl object to dynamic parameters.

Returns

A 10-dimensional vector of dynamic parameters.

Definition at line 1022 of file inertia.hpp.

toInertia()

InertiaTpl<Scalar, Options> toInertia ( ) const

inline

Converts the PseudoInertiaTpl object to an InertiaTpl object.

Returns

An InertiaTpl object.

Definition at line 1054 of file inertia.hpp.

toMatrix()

Matrix4 toMatrix ( ) const

inline

Converts the PseudoInertiaTpl object to a 4x4 matrix.

Returns

A 4x4 pseudo inertia matrix.

Definition at line 972 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