se3::InertiaBase< Derived > Class Template Reference

#include <spatial/inertia.hpp>

List of all members.

Public Member Functions

Derived_tderived ()
const Derived_tderived () const
Scalar_t mass () const
Scalar_t & mass ()
const Vector3lever () const
Vector3lever ()
const Symmetric3inertia () const
Symmetric3inertia ()
Matrix6 matrix () const
 operator Matrix6 () const
Derived_toperator= (const Derived_t &clone)
bool operator== (const Derived_t &other) const
Derived_toperator+= (const Derived_t &Yb)
Derived_t operator+ (const Derived_t &Yb) const
Force operator* (const Motion &v) const
Scalar_t vtiv (const Motion &v) 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

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)

template<class Derived>
class se3::InertiaBase< Derived >


Member Typedef Documentation

template<class Derived>
typedef Derived se3::InertiaBase< Derived >::Derived_t [protected]

Member Function Documentation

template<class Derived>
const Derived_t& se3::InertiaBase< Derived >::derived ( ) const [inline]
template<class Derived>
void se3::InertiaBase< Derived >::disp ( std::ostream &  os) const [inline]
template<class Derived>
const Symmetric3& se3::InertiaBase< Derived >::inertia ( ) const [inline]
template<class Derived>
Symmetric3& se3::InertiaBase< Derived >::inertia ( ) [inline]
template<class Derived>
const Vector3& se3::InertiaBase< Derived >::lever ( ) const [inline]
template<class Derived>
Vector3& se3::InertiaBase< Derived >::lever ( ) [inline]
template<class Derived>
Scalar_t se3::InertiaBase< Derived >::mass ( ) const [inline]
template<class Derived>
Scalar_t& se3::InertiaBase< Derived >::mass ( ) [inline]
template<class Derived>
Matrix6 se3::InertiaBase< Derived >::matrix ( ) const [inline]
template<class Derived>
se3::InertiaBase< Derived >::operator Matrix6 ( ) const [inline]
template<class Derived>
Force se3::InertiaBase< Derived >::operator* ( const Motion v) const [inline]
template<class Derived>
Derived_t se3::InertiaBase< Derived >::operator+ ( const Derived_t Yb) const [inline]
template<class Derived>
Derived_t& se3::InertiaBase< Derived >::operator+= ( const Derived_t Yb) [inline]
template<class Derived>
Derived_t& se3::InertiaBase< Derived >::operator= ( const Derived_t clone) [inline]
template<class Derived>
bool se3::InertiaBase< Derived >::operator== ( const Derived_t other) const [inline]
template<class Derived>
Derived_t se3::InertiaBase< Derived >::se3Action ( const SE3 M) const [inline]

aI = aXb.act(bI)

Referenced by se3::Model::mergeFixedBody().

template<class Derived>
Derived_t se3::InertiaBase< Derived >::se3ActionInverse ( const SE3 M) const [inline]

bI = aXb.actInv(aI)

template<class Derived>
se3::InertiaBase< Derived >::SPATIAL_TYPEDEF_TEMPLATE ( Derived_t  ) [protected]
template<class Derived>
Scalar_t se3::InertiaBase< Derived >::vtiv ( const Motion v) const [inline]

Friends And Related Function Documentation

template<class Derived>
std::ostream& operator<< ( std::ostream &  os,
const InertiaBase< Derived_t > &  X 
) [friend]