#include <spatial/force.hpp>
Public Types | |
typedef ConstLinear_t | ConstAngular_t |
Public Member Functions | |
SPATIAL_TYPEDEF_TEMPLATE (ForceTpl) | |
ForceTpl () | |
template<typename f3_t , typename n3_t > | |
ForceTpl (const Eigen::MatrixBase< f3_t > &f, const Eigen::MatrixBase< n3_t > &n) | |
template<typename f6 > | |
ForceTpl (const Eigen::MatrixBase< f6 > &f) | |
template<typename S2 , int O2> | |
ForceTpl (const ForceTpl< S2, O2 > &clone) | |
ForceTpl & | setZero () |
ForceTpl & | setRandom () |
const Vector6 & | toVector_impl () const |
Vector6 & | toVector_impl () |
void | disp_impl (std::ostream &os) const |
ForceTpl | se3Action_impl (const SE3 &m) const |
af = aXb.act(bf) | |
ForceTpl | se3ActionInverse_impl (const SE3 &m) const |
bool | isEqual (const ForceTpl &other) const |
template<typename S2 , int O2> | |
ForceTpl & | operator= (const ForceTpl< S2, O2 > &other) |
template<typename F6 > | |
ForceTpl & | operator= (const Eigen::MatrixBase< F6 > &phi) |
ForceTpl & | __equl__ (const ForceTpl &other) |
ForceTpl & | __pequ__ (const ForceTpl &phi) |
ForceTpl | __plus__ (const ForceTpl &phi) const |
ForceTpl | __mult__ (const double a) const |
ForceTpl | __minus__ () const |
ForceTpl | __minus__ (const ForceTpl &phi) const |
ConstAngular_t | angular_impl () const |
Angular_t | angular_impl () |
void | angular_impl (const Vector3 &n) |
ConstLinear_t | linear_impl () const |
Linear_t | linear_impl () |
void | linear_impl (const Vector3 &f) |
Scalar_t | dot (const Motion &m) const |
Static Public Member Functions | |
static ForceTpl | Zero () |
static ForceTpl | Random () |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::VectorBlock < const Vector6, 3 > | ConstLinear_t |
Protected Attributes | |
Vector6 | data |
Friends | |
class | ForceBase< ForceTpl< _Scalar, _Options > > |
typedef ConstLinear_t se3::ForceTpl< _Scalar, _Options >::ConstAngular_t |
Reimplemented from se3::ForceBase< ForceTpl< _Scalar, _Options > >.
se3::ForceTpl< _Scalar, _Options >::ForceTpl | ( | ) | [inline] |
Referenced by se3::ForceTpl< _Scalar, _Options >::__minus__(), se3::ForceTpl< _Scalar, _Options >::__mult__(), se3::ForceTpl< _Scalar, _Options >::__plus__(), se3::ForceTpl< _Scalar, _Options >::Random(), se3::ForceTpl< _Scalar, _Options >::se3Action_impl(), se3::ForceTpl< _Scalar, _Options >::se3ActionInverse_impl(), and se3::ForceTpl< _Scalar, _Options >::Zero().
se3::ForceTpl< _Scalar, _Options >::ForceTpl | ( | const Eigen::MatrixBase< f3_t > & | f, |
const Eigen::MatrixBase< n3_t > & | n | ||
) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
se3::ForceTpl< _Scalar, _Options >::ForceTpl | ( | const Eigen::MatrixBase< f6 > & | f | ) | [inline, explicit] |
se3::ForceTpl< _Scalar, _Options >::ForceTpl | ( | const ForceTpl< S2, O2 > & | clone | ) | [inline, explicit] |
ForceTpl& se3::ForceTpl< _Scalar, _Options >::__equl__ | ( | const ForceTpl< _Scalar, _Options > & | other | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
Referenced by se3::ForceBase< ForceTpl< _Scalar, _Options > >::operator=().
ForceTpl se3::ForceTpl< _Scalar, _Options >::__minus__ | ( | ) | const [inline] |
ForceTpl se3::ForceTpl< _Scalar, _Options >::__minus__ | ( | const ForceTpl< _Scalar, _Options > & | phi | ) | const [inline] |
ForceTpl se3::ForceTpl< _Scalar, _Options >::__mult__ | ( | const double | a | ) | const [inline] |
ForceTpl& se3::ForceTpl< _Scalar, _Options >::__pequ__ | ( | const ForceTpl< _Scalar, _Options > & | phi | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
Referenced by se3::ForceBase< ForceTpl< _Scalar, _Options > >::operator+=().
ForceTpl se3::ForceTpl< _Scalar, _Options >::__plus__ | ( | const ForceTpl< _Scalar, _Options > & | phi | ) | const [inline] |
ConstAngular_t se3::ForceTpl< _Scalar, _Options >::angular_impl | ( | ) | const [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
Referenced by se3::ForceBase< ForceTpl< _Scalar, _Options > >::angular(), se3::MotionTpl< Scalar, Options >::cross(), se3::ForceTpl< _Scalar, _Options >::disp_impl(), se3::ForceTpl< _Scalar, _Options >::se3Action_impl(), and se3::ForceTpl< _Scalar, _Options >::se3ActionInverse_impl().
Angular_t se3::ForceTpl< _Scalar, _Options >::angular_impl | ( | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
void se3::ForceTpl< _Scalar, _Options >::angular_impl | ( | const Vector3 & | n | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
void se3::ForceTpl< _Scalar, _Options >::disp_impl | ( | std::ostream & | os | ) | const [inline] |
Scalar_t se3::ForceTpl< _Scalar, _Options >::dot | ( | const Motion & | m | ) | const [inline] |
Reimplemented from se3::ForceBase< ForceTpl< _Scalar, _Options > >.
References se3::ForceTpl< _Scalar, _Options >::data, and se3::MotionBase< Derived >::toVector().
bool se3::ForceTpl< _Scalar, _Options >::isEqual | ( | const ForceTpl< _Scalar, _Options > & | other | ) | const [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
Referenced by se3::ForceBase< ForceTpl< _Scalar, _Options > >::operator==().
ConstLinear_t se3::ForceTpl< _Scalar, _Options >::linear_impl | ( | ) | const [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
Referenced by se3::MotionTpl< Scalar, Options >::cross(), se3::ForceTpl< _Scalar, _Options >::disp_impl(), se3::ForceBase< ForceTpl< _Scalar, _Options > >::linear(), se3::ForceTpl< _Scalar, _Options >::se3Action_impl(), and se3::ForceTpl< _Scalar, _Options >::se3ActionInverse_impl().
Linear_t se3::ForceTpl< _Scalar, _Options >::linear_impl | ( | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
void se3::ForceTpl< _Scalar, _Options >::linear_impl | ( | const Vector3 & | f | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
ForceTpl& se3::ForceTpl< _Scalar, _Options >::operator= | ( | const ForceTpl< S2, O2 > & | other | ) | [inline] |
ForceTpl& se3::ForceTpl< _Scalar, _Options >::operator= | ( | const Eigen::MatrixBase< F6 > & | phi | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
static ForceTpl se3::ForceTpl< _Scalar, _Options >::Random | ( | ) | [inline, static] |
References se3::ForceTpl< _Scalar, _Options >::ForceTpl().
ForceTpl se3::ForceTpl< _Scalar, _Options >::se3Action_impl | ( | const SE3 & | m | ) | const [inline] |
af = aXb.act(bf)
References se3::ForceTpl< _Scalar, _Options >::angular_impl(), se3::ForceTpl< _Scalar, _Options >::ForceTpl(), se3::ForceTpl< _Scalar, _Options >::linear_impl(), se3::SE3Base< Derived >::rotation(), and se3::SE3Base< Derived >::translation().
Referenced by se3::ForceBase< ForceTpl< _Scalar, _Options > >::se3Action().
ForceTpl se3::ForceTpl< _Scalar, _Options >::se3ActionInverse_impl | ( | const SE3 & | m | ) | const [inline] |
References se3::ForceTpl< _Scalar, _Options >::angular_impl(), se3::ForceTpl< _Scalar, _Options >::ForceTpl(), se3::ForceTpl< _Scalar, _Options >::linear_impl(), se3::SE3Base< Derived >::rotation(), and se3::SE3Base< Derived >::translation().
Referenced by se3::ForceBase< ForceTpl< _Scalar, _Options > >::se3ActionInverse().
ForceTpl& se3::ForceTpl< _Scalar, _Options >::setRandom | ( | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
ForceTpl& se3::ForceTpl< _Scalar, _Options >::setZero | ( | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
se3::ForceTpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE | ( | ForceTpl< _Scalar, _Options > | ) |
const Vector6& se3::ForceTpl< _Scalar, _Options >::toVector_impl | ( | ) | const [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
Referenced by se3::ForceBase< ForceTpl< _Scalar, _Options > >::toVector().
Vector6& se3::ForceTpl< _Scalar, _Options >::toVector_impl | ( | ) | [inline] |
References se3::ForceTpl< _Scalar, _Options >::data.
static ForceTpl se3::ForceTpl< _Scalar, _Options >::Zero | ( | ) | [inline, static] |
References se3::ForceTpl< _Scalar, _Options >::ForceTpl().
friend class ForceBase< ForceTpl< _Scalar, _Options > > [friend] |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::VectorBlock<const Vector6,3> se3::ForceTpl< _Scalar, _Options >::ConstLinear_t |
Reimplemented from se3::ForceBase< ForceTpl< _Scalar, _Options > >.
Vector6 se3::ForceTpl< _Scalar, _Options >::data [protected] |
Referenced by se3::ForceTpl< _Scalar, _Options >::__equl__(), se3::ForceTpl< _Scalar, _Options >::__minus__(), se3::ForceTpl< _Scalar, _Options >::__mult__(), se3::ForceTpl< _Scalar, _Options >::__pequ__(), se3::ForceTpl< _Scalar, _Options >::__plus__(), se3::ForceTpl< _Scalar, _Options >::angular_impl(), se3::ForceTpl< _Scalar, _Options >::dot(), se3::ForceTpl< _Scalar, _Options >::ForceTpl(), se3::ForceTpl< _Scalar, _Options >::isEqual(), se3::ForceTpl< _Scalar, _Options >::linear_impl(), se3::ForceTpl< _Scalar, _Options >::operator=(), se3::ForceTpl< _Scalar, _Options >::setRandom(), se3::ForceTpl< _Scalar, _Options >::setZero(), and se3::ForceTpl< _Scalar, _Options >::toVector_impl().