pinocchio  3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Friends | List of all members
PseudoInertiaTpl< _Scalar, _Options > Struct Template Reference
Spatial

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 943 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 1072 of file inertia.hpp.

◆ FromDynamicParameters()

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

Constructs a PseudoInertiaTpl object from dynamic parameters.

Parameters
dynamic_paramsA 10-dimensional vector of dynamic parameters.
Returns
A PseudoInertiaTpl object.

Definition at line 1001 of file inertia.hpp.

◆ FromInertia()

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

Constructs a PseudoInertiaTpl object from an InertiaTpl object.

Parameters
inertiaAn InertiaTpl object.
Returns
A PseudoInertiaTpl object.

Definition at line 1043 of file inertia.hpp.

◆ FromLogCholeskyParameters()

static PseudoInertiaTpl FromLogCholeskyParameters ( const LogCholeskyParameters &  log_cholesky)
inlinestatic

Constructs a PseudoInertiaTpl object from log Cholesky parameters.

Parameters
log_choleskyA 10-dimensional vector of log Cholesky parameters.
Returns
A PseudoInertiaTpl object.

Definition at line 1064 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_inertiaA 4x4 pseudo inertia matrix.
Returns
A PseudoInertiaTpl object.

Definition at line 986 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 1021 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 1053 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 971 of file inertia.hpp.

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