pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Member Functions | Static Public Member Functions | Protected Types | Protected Member Functions | Friends | List of all members
InertiaBase< Derived > Class Template Reference

Public Member Functions

Derived_t & derived ()
 
const Derived_t & derived () const
 
void disp (std::ostream &os) const
 
const Symmetric3 & inertia () const
 
Symmetric3 & inertia ()
 
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
 
Matrix6 ivx (const Motion &v) const
 
const Vector3 & lever () const
 
Vector3 & lever ()
 
Scalar mass () const
 
Scalar & mass ()
 
Matrix6 matrix () const
 
 operator Matrix6 () const
 
bool operator!= (const Derived_t &other) const
 
template<typename MotionDerived >
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options > operator* (const MotionDense< MotionDerived > &v) const
 
Derived_t operator+ (const Derived_t &Yb) const
 
Derived_t & operator+= (const Derived_t &Yb)
 
Derived_t & operator= (const Derived_t &clone)
 
bool operator== (const Derived_t &other) const
 
Derived_t se3Action (const SE3 &M) const
 aI = aXb.act(bI)
 
Derived_t se3ActionInverse (const SE3 &M) const
 bI = aXb.actInv(aI)
 
void setIdentity ()
 
void setRandom ()
 
void setZero ()
 
Matrix6 variation (const Motion &v) const
 
Scalar vtiv (const Motion &v) const
 
Matrix6 vxi (const Motion &v) const
 

Static Public Member Functions

template<typename M6 >
static void ivx (const Motion &v, const Derived &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...
 
template<typename M6 >
static void vxi (const Motion &v, const Derived &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...
 

Protected Types

typedef Derived Derived_t
 

Protected Member Functions

 SPATIAL_TYPEDEF_TEMPLATE (Derived_t)
 

Friends

std::ostream & operator<< (std::ostream &os, const InertiaBase< Derived_t > &X)
 

Detailed Description

template<class Derived>
class pinocchio::InertiaBase< Derived >

Definition at line 21 of file inertia.hpp.

Member Function Documentation

◆ ivx()

static void ivx ( const Motion &  v,
const Derived &  I,
const Eigen::MatrixBase< M6 > &  Iout 
)
inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \).

Parameters
[in]vThe spatial velocity of the frame supporting the inertia.
[in]IThe spatial inertia in motion.
[out]IoutThe time derivative of the inertia I.

Definition at line 86 of file inertia.hpp.

◆ vxi()

static void vxi ( const Motion &  v,
const Derived &  I,
const Eigen::MatrixBase< M6 > &  Iout 
)
inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \).

Parameters
[in]vThe spatial velocity of the frame supporting the inertia.
[in]IThe spatial inertia in motion.
[out]IoutThe time derivative of the inertia I.

Definition at line 65 of file inertia.hpp.

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