Inheritance diagram for InertiaTpl< _Scalar, _Options >:

Collaboration diagram for InertiaTpl< _Scalar, _Options >:

Public Member Functions
	SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl)

	InertiaTpl (const Scalar m_, const Vector3 &c_, const Matrix3 &I_)

	InertiaTpl (const Matrix6 &I6)

	InertiaTpl (Scalar _m, const Vector3 &_c, const Symmetric3 &_I)

	InertiaTpl (const InertiaTpl &clone)

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

void	setZero ()

void	setIdentity ()

void	setRandom ()

Matrix6	matrix_impl () const

InertiaTpl &	__equl__ (const InertiaTpl &clone)

bool	isEqual (const InertiaTpl &Y2) const

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

InertiaTpl	__plus__ (const InertiaTpl &Yb) const

InertiaTpl &	__pequ__ (const InertiaTpl &Yb)

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

Scalar	vtiv_impl (const Motion &v) const

Matrix6	variation (const Motion &v) const

Scalar	mass () const

const Vector3 &	lever () const

const Symmetric3 &	inertia () const

Scalar &	mass ()

Vector3 &	lever ()

Symmetric3 &	inertia ()

InertiaTpl	se3Action_impl (const SE3 &M) const
	aI = aXb.act(bI)

InertiaTpl	se3ActionInverse_impl (const SE3 &M) const
	bI = aXb.actInv(aI)

Force	vxiv (const Motion &v) const

void	disp_impl (std::ostream &os) const

Public Member Functions inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
Derived_t &	derived ()

const Derived_t &	derived () const

Scalar	mass () const

Scalar &	mass ()

const Vector3 &	lever () const

Vector3 &	lever ()

const Symmetric3 &	inertia () const

Symmetric3 &	inertia ()

Matrix6	matrix () const

	operator Matrix6 () const

Derived_t &	operator= (const Derived_t &clone)

bool	operator== (const Derived_t &other) const

bool	operator!= (const Derived_t &other) const

Derived_t &	operator+= (const Derived_t &Yb)

Derived_t	operator+ (const Derived_t &Yb) const

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

Scalar	vtiv (const Motion &v) const

Matrix6	variation (const Motion &v) const

Matrix6	vxi (const Motion &v) const

Matrix6	ivx (const Motion &v) const

void	setZero ()

void	setIdentity ()

void	setRandom ()

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

Derived_t	se3Action (const SE3 &M) const
	aI = aXb.act(bI)

Derived_t	se3ActionInverse (const SE3 &M) const
	bI = aXb.actInv(aI)

void	disp (std::ostream &os) const

Static Public Member Functions
static InertiaTpl	Zero ()

static InertiaTpl	Identity ()

static InertiaTpl	Random ()

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

static InertiaTpl	FromCylinder (const Scalar m, const Scalar r, const Scalar l)

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

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

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

Static Public Member Functions inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
static void	vxi (const Motion &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 \( \dot{I} = v \cross^{*} I \). More...

static void	ivx (const Motion &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 \( \dot{I} = v \cross^{*} I \). More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Symmetric3::AlphaSkewSquare	AlphaSkewSquare

Protected Attributes
Scalar	m

Vector3	c

Symmetric3	I

Friends
class	InertiaBase< InertiaTpl< _Scalar, _Options > >

Additional Inherited Members
Protected Types inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
typedef InertiaTpl< _Scalar, _Options >	Derived_t

Protected Member Functions inherited from InertiaBase< InertiaTpl< _Scalar, _Options > >
	SPATIAL_TYPEDEF_TEMPLATE (Derived_t)

Detailed Description

template<typename _Scalar, int _Options>
class se3::InertiaTpl< _Scalar, _Options >

Definition at line 40 of file spatial/fwd.hpp.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

template<typename _Scalar, int _Options> class se3::InertiaTpl< _Scalar, _Options >

template<typename _Scalar, int _Options>
class se3::InertiaTpl< _Scalar, _Options >