pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
ForceRef< Vector6ArgType > Class Template Reference
Inheritance diagram for ForceRef< Vector6ArgType >:
Collaboration diagram for ForceRef< Vector6ArgType >:

Public Types

typedef ForceDense< ForceRefBase
 
typedef traits< ForceRef >::DataRefType DataRefType
 
- Public Types inherited from ForceDense< ForceRef< Vector6ArgType > >
typedef ForceBase< ForceRef< Vector6ArgType > > Base
 
typedef traits< ForceRef< Vector6ArgType > >::ForceRefType ForceRefType
 

Public Member Functions

 ForceRef (typename PINOCCHIO_EIGEN_REF_TYPE(Vector6ArgType) f_like)
 
ConstAngularType angular_impl () const
 
AngularType angular_impl ()
 
template<typename V3 >
void angular_impl (const Eigen::MatrixBase< V3 > &w)
 
 FORCE_TYPEDEF_TPL (ForceRef)
 
ConstLinearType linear_impl () const
 
LinearType linear_impl ()
 
template<typename V3 >
void linear_impl (const Eigen::MatrixBase< V3 > &v)
 
ForceRefref ()
 
ToVectorConstReturnType toVector_impl () const
 
ToVectorReturnType toVector_impl ()
 
- Public Member Functions inherited from ForceDense< ForceRef< Vector6ArgType > >
ForcePlain __div__ (const OtherScalar &alpha) const
 
ForceRef< Vector6ArgType > & __mequ__ (const ForceDense< M1 > &v)
 
ForcePlain __minus__ (const ForceDense< M1 > &v) const
 
ForcePlain __mult__ (const OtherScalar &alpha) const
 
ForcePlain __opposite__ () const
 
ForceRef< Vector6ArgType > & __pequ__ (const ForceDense< M1 > &v)
 
ForcePlain __plus__ (const ForceDense< M1 > &v) const
 
void disp_impl (std::ostream &os) const
 
Scalar dot (const MotionDense< F1 > &phi) const
 
 FORCE_TYPEDEF_TPL (ForceRef< Vector6ArgType >)
 
bool isApprox (const ForceDense< M2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isApprox_impl (const ForceDense< D2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isEqual_impl (const ForceDense< D2 > &other) const
 
bool isEqual_impl (const ForceBase< D2 > &other) const
 
bool isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
void motionAction (const MotionDense< M1 > &v, ForceDense< M2 > &fout) const
 
ForcePlain motionAction (const MotionDense< M1 > &v) const
 
ForcePlain operator+ (const ForceDense< F1 > &f) const
 
ForceRef< Vector6ArgType > & operator+= (const ForceDense< F1 > &f)
 
ForceRef< Vector6ArgType > & operator+= (const ForceBase< F1 > &f)
 
ForcePlain operator- () const
 
ForcePlain operator- (const ForceDense< F1 > &f) const
 
ForceRef< Vector6ArgType > & operator-= (const ForceDense< M1 > &v)
 
ForceRef< Vector6ArgType > & operator= (const ForceDense< D2 > &other)
 
ForceRef< Vector6ArgType > & operator= (const Eigen::MatrixBase< V6 > &v)
 
ForceRefType ref ()
 
void se3Action_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
 
ForcePlain se3Action_impl (const SE3Tpl< S2, O2 > &m) const
 
void se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
 
ForcePlain se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const
 
ForceRef< Vector6ArgType > & setFrom (const ForceDense< D2 > &other)
 
ForceRef< Vector6ArgType > & setRandom ()
 
ForceRef< Vector6ArgType > & setZero ()
 
- Public Member Functions inherited from ForceBase< Derived >
ConstAngularType angular () const
 Return the angular part of the force vector. More...
 
AngularType angular ()
 Return the angular part of the force vector. More...
 
template<typename V3Like >
void angular (const Eigen::MatrixBase< V3Like > &n)
 Set the angular part of the force vector. More...
 
Derived & derived ()
 
const Derived & derived () const
 
void disp (std::ostream &os) const
 
template<typename MotionDerived >
Scalar dot (const MotionDense< MotionDerived > &m) const
 
 FORCE_TYPEDEF_TPL (Derived)
 
bool isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
ConstLinearType linear () const
 Return the linear part of the force vector. More...
 
LinearType linear ()
 Return the linear part of the force vector. More...
 
template<typename V3Like >
void linear (const Eigen::MatrixBase< V3Like > &f)
 Set the linear part of the force vector. More...
 
template<typename M1 >
MotionAlgebraAction< Derived, M1 >::ReturnType motionAction (const MotionDense< M1 > &v) const
 
 operator Vector6 () const
 
template<typename F2 >
bool operator!= (const ForceBase< F2 > &other) const
 
template<typename OtherScalar >
ForcePlain operator* (const OtherScalar &alpha) const
 
Derived operator+ (const ForceBase< Derived > &phi) const
 
Derived & operator+= (const ForceBase< Derived > &phi)
 Replaces *this by *this + other. More...
 
Derived operator- () const
 
Derived operator- (const ForceBase< Derived > &phi) const
 
Derived & operator-= (const ForceBase< Derived > &phi)
 Replaces *this by *this - other. More...
 
template<typename OtherScalar >
ForcePlain operator/ (const OtherScalar &alpha) const
 
Derived & operator= (const ForceBase< Derived > &other)
 Copies the Derived Force into *this. More...
 
template<typename F2 >
bool operator== (const ForceBase< F2 > &other) const
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
 Transform from A to B coordinates the Force represented by *this such that

\begin{equation*} {}^{B}f = {}^{B}X_A^* * {}^{A}f \end{equation*}

. More...

 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
 Transform from B to A coordinates the Force represented by *this such that

\begin{equation*} {}^{A}f = {}^{A}X_B^* * {}^{A}f \end{equation*}

. More...

 
ToVectorConstReturnType toVector () const
 Return the force as an Eigen vector. More...
 
ToVectorReturnType toVector ()
 Return the force as an Eigen vector. More...
 

Protected Attributes

DataRefType m_ref
 

Detailed Description

template<typename Vector6ArgType>
class pinocchio::ForceRef< Vector6ArgType >

Definition at line 50 of file force-ref.hpp.


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