#include <spatial/inertia.hpp>
Public Member Functions | |
SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl) | |
InertiaTpl () | |
InertiaTpl (const Scalar_t m_, const Vector3 &c_, const Matrix3 &I_) | |
InertiaTpl (const Matrix6 &I6) | |
InertiaTpl (Scalar_t _m, const Vector3 &_c, const Symmetric3 &_I) | |
InertiaTpl (const InertiaTpl &clone) | |
template<typename S2 , int O2> | |
InertiaTpl (const InertiaTpl< S2, O2 > &clone) | |
Matrix6 | matrix_impl () const |
InertiaTpl & | __equl__ (const InertiaTpl &clone) |
bool | isEqual (const InertiaTpl &Y2) const |
InertiaTpl | __plus__ (const InertiaTpl &Yb) const |
InertiaTpl & | __pequ__ (const InertiaTpl &Yb) |
Force | __mult__ (const Motion &v) const |
Scalar_t | vtiv_impl (const Motion &v) const |
Scalar_t | mass () const |
const Vector3 & | lever () const |
const Symmetric3 & | inertia () const |
Scalar_t & | 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 |
Static Public Member Functions | |
static InertiaTpl | Zero () |
static InertiaTpl | Identity () |
static InertiaTpl | Random () |
Protected Attributes | |
Scalar_t | m |
Vector3 | c |
Symmetric3 | I |
Friends | |
class | InertiaBase< InertiaTpl< _Scalar, _Options > > |
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl | ( | ) | [inline] |
Referenced by se3::InertiaTpl< _Scalar, _Options >::__plus__(), se3::InertiaTpl< _Scalar, _Options >::Identity(), se3::InertiaTpl< _Scalar, _Options >::Random(), se3::InertiaTpl< _Scalar, _Options >::se3Action_impl(), se3::InertiaTpl< _Scalar, _Options >::se3ActionInverse_impl(), and se3::InertiaTpl< _Scalar, _Options >::Zero().
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl | ( | const Scalar_t | m_, |
const Vector3 & | c_, | ||
const Matrix3 & | I_ | ||
) | [inline] |
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl | ( | const Matrix6 & | I6 | ) | [inline] |
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl | ( | Scalar_t | _m, |
const Vector3 & | _c, | ||
const Symmetric3 & | _I | ||
) | [inline] |
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl | ( | const InertiaTpl< _Scalar, _Options > & | clone | ) | [inline] |
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl | ( | const InertiaTpl< S2, O2 > & | clone | ) | [inline] |
InertiaTpl& se3::InertiaTpl< _Scalar, _Options >::__equl__ | ( | const InertiaTpl< _Scalar, _Options > & | clone | ) | [inline] |
Force se3::InertiaTpl< _Scalar, _Options >::__mult__ | ( | const Motion & | v | ) | const [inline] |
References se3::ForceBase< Derived >::angular(), se3::MotionBase< Derived >::angular(), se3::InertiaTpl< _Scalar, _Options >::c, se3::InertiaTpl< _Scalar, _Options >::I, se3::ForceBase< Derived >::linear(), se3::MotionBase< Derived >::linear(), and se3::InertiaTpl< _Scalar, _Options >::m.
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::operator*().
InertiaTpl& se3::InertiaTpl< _Scalar, _Options >::__pequ__ | ( | const InertiaTpl< _Scalar, _Options > & | Yb | ) | [inline] |
InertiaTpl se3::InertiaTpl< _Scalar, _Options >::__plus__ | ( | const InertiaTpl< _Scalar, _Options > & | Yb | ) | const [inline] |
void se3::InertiaTpl< _Scalar, _Options >::disp_impl | ( | std::ostream & | os | ) | const [inline] |
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::Identity | ( | ) | [inline, static] |
References se3::Symmetric3Tpl< double, 0 >::Identity(), and se3::InertiaTpl< _Scalar, _Options >::InertiaTpl().
Referenced by se3::lua::LuaModelReadFromTable().
const Symmetric3& se3::InertiaTpl< _Scalar, _Options >::inertia | ( | ) | const [inline] |
Reimplemented from se3::InertiaBase< InertiaTpl< _Scalar, _Options > >.
References se3::InertiaTpl< _Scalar, _Options >::I.
Referenced by se3::operator*(), and se3::urdf::parseTree().
Symmetric3& se3::InertiaTpl< _Scalar, _Options >::inertia | ( | ) | [inline] |
Reimplemented from se3::InertiaBase< InertiaTpl< _Scalar, _Options > >.
References se3::InertiaTpl< _Scalar, _Options >::I.
bool se3::InertiaTpl< _Scalar, _Options >::isEqual | ( | const InertiaTpl< _Scalar, _Options > & | Y2 | ) | const [inline] |
const Vector3& se3::InertiaTpl< _Scalar, _Options >::lever | ( | ) | const [inline] |
Reimplemented from se3::InertiaBase< InertiaTpl< _Scalar, _Options > >.
References se3::InertiaTpl< _Scalar, _Options >::c.
Referenced by se3::operator*(), and se3::urdf::parseTree().
Vector3& se3::InertiaTpl< _Scalar, _Options >::lever | ( | ) | [inline] |
Reimplemented from se3::InertiaBase< InertiaTpl< _Scalar, _Options > >.
References se3::InertiaTpl< _Scalar, _Options >::c.
Scalar_t se3::InertiaTpl< _Scalar, _Options >::mass | ( | ) | const [inline] |
Reimplemented from se3::InertiaBase< InertiaTpl< _Scalar, _Options > >.
References se3::InertiaTpl< _Scalar, _Options >::m.
Referenced by se3::operator*(), and se3::urdf::parseTree().
Scalar_t& se3::InertiaTpl< _Scalar, _Options >::mass | ( | ) | [inline] |
Reimplemented from se3::InertiaBase< InertiaTpl< _Scalar, _Options > >.
References se3::InertiaTpl< _Scalar, _Options >::m.
Matrix6 se3::InertiaTpl< _Scalar, _Options >::matrix_impl | ( | ) | const [inline] |
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::Random | ( | ) | [inline, static] |
InertiaTpl se3::InertiaTpl< _Scalar, _Options >::se3Action_impl | ( | const SE3 & | M | ) | const [inline] |
aI = aXb.act(bI)
References se3::InertiaTpl< _Scalar, _Options >::c, se3::InertiaTpl< _Scalar, _Options >::I, se3::InertiaTpl< _Scalar, _Options >::InertiaTpl(), se3::InertiaTpl< _Scalar, _Options >::m, se3::Symmetric3Tpl< _Scalar, _Options >::rotate(), se3::SE3Base< Derived >::rotation(), and se3::SE3Base< Derived >::translation().
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::se3Action().
InertiaTpl se3::InertiaTpl< _Scalar, _Options >::se3ActionInverse_impl | ( | const SE3 & | M | ) | const [inline] |
bI = aXb.actInv(aI)
References se3::InertiaTpl< _Scalar, _Options >::c, se3::InertiaTpl< _Scalar, _Options >::I, se3::InertiaTpl< _Scalar, _Options >::InertiaTpl(), se3::InertiaTpl< _Scalar, _Options >::m, se3::Symmetric3Tpl< _Scalar, _Options >::rotate(), se3::SE3Base< Derived >::rotation(), and se3::SE3Base< Derived >::translation().
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::se3ActionInverse().
se3::InertiaTpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE | ( | InertiaTpl< _Scalar, _Options > | ) |
Scalar_t se3::InertiaTpl< _Scalar, _Options >::vtiv_impl | ( | const Motion & | v | ) | const [inline] |
References se3::MotionBase< Derived >::angular(), se3::InertiaTpl< _Scalar, _Options >::c, se3::InertiaTpl< _Scalar, _Options >::I, se3::MotionBase< Derived >::linear(), se3::InertiaTpl< _Scalar, _Options >::m, and se3::Symmetric3Tpl< _Scalar, _Options >::vtiv().
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::vtiv().
Force se3::InertiaTpl< _Scalar, _Options >::vxiv | ( | const Motion & | v | ) | const [inline] |
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::Zero | ( | ) | [inline, static] |
References se3::InertiaTpl< _Scalar, _Options >::InertiaTpl(), and se3::Symmetric3Tpl< double, 0 >::Zero().
Referenced by se3::urdf::parseTree().
friend class InertiaBase< InertiaTpl< _Scalar, _Options > > [friend] |
Vector3 se3::InertiaTpl< _Scalar, _Options >::c [protected] |
Referenced by se3::InertiaTpl< _Scalar, _Options >::__equl__(), se3::InertiaTpl< _Scalar, _Options >::__mult__(), se3::InertiaTpl< _Scalar, _Options >::__pequ__(), se3::InertiaTpl< _Scalar, _Options >::__plus__(), se3::InertiaTpl< _Scalar, _Options >::disp_impl(), se3::InertiaTpl< _Scalar, _Options >::InertiaTpl(), se3::InertiaTpl< _Scalar, _Options >::isEqual(), se3::InertiaTpl< _Scalar, _Options >::lever(), se3::InertiaTpl< _Scalar, _Options >::matrix_impl(), se3::InertiaTpl< _Scalar, _Options >::se3Action_impl(), se3::InertiaTpl< _Scalar, _Options >::se3ActionInverse_impl(), se3::InertiaTpl< _Scalar, _Options >::vtiv_impl(), and se3::InertiaTpl< _Scalar, _Options >::vxiv().
Symmetric3 se3::InertiaTpl< _Scalar, _Options >::I [protected] |
Referenced by se3::InertiaTpl< _Scalar, _Options >::__equl__(), se3::InertiaTpl< _Scalar, _Options >::__mult__(), se3::InertiaTpl< _Scalar, _Options >::__pequ__(), se3::InertiaTpl< _Scalar, _Options >::__plus__(), se3::InertiaTpl< _Scalar, _Options >::disp_impl(), se3::InertiaTpl< _Scalar, _Options >::inertia(), se3::InertiaTpl< _Scalar, _Options >::InertiaTpl(), se3::InertiaTpl< _Scalar, _Options >::isEqual(), se3::InertiaTpl< _Scalar, _Options >::matrix_impl(), se3::InertiaTpl< _Scalar, _Options >::se3Action_impl(), se3::InertiaTpl< _Scalar, _Options >::se3ActionInverse_impl(), se3::InertiaTpl< _Scalar, _Options >::vtiv_impl(), and se3::InertiaTpl< _Scalar, _Options >::vxiv().
Scalar_t se3::InertiaTpl< _Scalar, _Options >::m [protected] |
Referenced by se3::InertiaTpl< _Scalar, _Options >::__equl__(), se3::InertiaTpl< _Scalar, _Options >::__mult__(), se3::InertiaTpl< _Scalar, _Options >::__pequ__(), se3::InertiaTpl< _Scalar, _Options >::__plus__(), se3::InertiaTpl< _Scalar, _Options >::disp_impl(), se3::InertiaTpl< _Scalar, _Options >::InertiaTpl(), se3::InertiaTpl< _Scalar, _Options >::isEqual(), se3::InertiaTpl< _Scalar, _Options >::mass(), se3::InertiaTpl< _Scalar, _Options >::matrix_impl(), se3::InertiaTpl< _Scalar, _Options >::se3Action_impl(), se3::InertiaTpl< _Scalar, _Options >::se3ActionInverse_impl(), se3::InertiaTpl< _Scalar, _Options >::vtiv_impl(), and se3::InertiaTpl< _Scalar, _Options >::vxiv().