#include <spatial/symmetric3.hpp>
Classes | |
struct | AlphaSkewSquare |
struct | SkewSquare |
Public Types | |
enum | { Options = _Options } |
typedef _Scalar | Scalar |
typedef Eigen::Matrix< Scalar, 3, 1, Options > | Vector3 |
typedef Eigen::Matrix< Scalar, 6, 1, Options > | Vector6 |
typedef Eigen::Matrix< Scalar, 3, 3, Options > | Matrix3 |
typedef Eigen::Matrix< Scalar, 2, 2, Options > | Matrix2 |
typedef Eigen::Matrix< Scalar, 3, 2, Options > | Matrix32 |
Public Member Functions | |
Symmetric3Tpl () | |
template<typename Sc , int N, int Opt> | |
Symmetric3Tpl (const Eigen::Matrix< Sc, N, N, Opt > &I) | |
Symmetric3Tpl (const Vector6 &I) | |
Symmetric3Tpl (const Scalar &a0, const Scalar &a1, const Scalar &a2, const Scalar &a3, const Scalar &a4, const Scalar &a5) | |
void | setZero () |
void | setRandom () |
void | setIdentity () |
bool | operator== (const Symmetric3Tpl &S2) const |
void | fill (const Scalar value) |
Symmetric3Tpl | operator- (const SkewSquare &v) const |
Symmetric3Tpl & | operator-= (const SkewSquare &v) |
Symmetric3Tpl | operator- (const AlphaSkewSquare &v) const |
Symmetric3Tpl & | operator-= (const AlphaSkewSquare &v) |
const Vector6 & | data () const |
Vector6 & | data () |
Matrix3 | matrix () const |
operator Matrix3 () const | |
Scalar | vtiv (const Vector3 &v) const |
Symmetric3Tpl | operator+ (const Symmetric3Tpl &s2) const |
Symmetric3Tpl & | operator+= (const Symmetric3Tpl &s2) |
Vector3 | operator* (const Vector3 &v) const |
const Scalar & | operator() (const int &i, const int &j) const |
Symmetric3Tpl | operator- (const Matrix3 &S) const |
Symmetric3Tpl | operator+ (const Matrix3 &S) const |
Matrix32 | decomposeltI () const |
Computes L for a symmetric matrix A. | |
template<typename D > | |
Symmetric3Tpl | rotate (const Eigen::MatrixBase< D > &R) const |
Static Public Member Functions | |
static Symmetric3Tpl | Zero () |
static Symmetric3Tpl | Random () |
static Symmetric3Tpl | Identity () |
static Symmetric3Tpl | RandomPositive () |
Protected Attributes | |
Vector6 | data_ |
Friends | |
template<typename D > | |
Matrix3 | operator- (const Symmetric3Tpl &S, const Eigen::MatrixBase< D > &M) |
AlphaSkewSquare | operator* (const Scalar &m, const SkewSquare &sk) |
typedef Eigen::Matrix<Scalar,2,2,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Matrix2 |
typedef Eigen::Matrix<Scalar,3,3,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Matrix3 |
typedef Eigen::Matrix<Scalar,3,2,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Matrix32 |
typedef _Scalar se3::Symmetric3Tpl< _Scalar, _Options >::Scalar |
typedef Eigen::Matrix<Scalar,3,1,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Vector3 |
typedef Eigen::Matrix<Scalar,6,1,Options> se3::Symmetric3Tpl< _Scalar, _Options >::Vector6 |
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl | ( | ) | [inline] |
Referenced by se3::Symmetric3Tpl< double, 0 >::Identity(), se3::Symmetric3Tpl< _Scalar, _Options >::SkewSquare::operator Symmetric3Tpl(), se3::Symmetric3Tpl< _Scalar, _Options >::AlphaSkewSquare::operator Symmetric3Tpl(), se3::Symmetric3Tpl< double, 0 >::operator+(), se3::Symmetric3Tpl< double, 0 >::operator-(), se3::Symmetric3Tpl< double, 0 >::RandomPositive(), and se3::Symmetric3Tpl< double, 0 >::Zero().
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl | ( | const Eigen::Matrix< Sc, N, N, Opt > & | I | ) | [inline, explicit] |
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl | ( | const Vector6 & | I | ) | [inline, explicit] |
se3::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl | ( | const Scalar & | a0, |
const Scalar & | a1, | ||
const Scalar & | a2, | ||
const Scalar & | a3, | ||
const Scalar & | a4, | ||
const Scalar & | a5 | ||
) | [inline] |
const Vector6& se3::Symmetric3Tpl< _Scalar, _Options >::data | ( | ) | const [inline] |
Referenced by se3::operator*(), and se3::urdf::parseTree().
Vector6& se3::Symmetric3Tpl< _Scalar, _Options >::data | ( | ) | [inline] |
Matrix32 se3::Symmetric3Tpl< _Scalar, _Options >::decomposeltI | ( | ) | const [inline] |
Computes L for a symmetric matrix A.
Referenced by se3::Symmetric3Tpl< double, 0 >::rotate().
void se3::Symmetric3Tpl< _Scalar, _Options >::fill | ( | const Scalar | value | ) | [inline] |
Referenced by se3::operator*().
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::Identity | ( | ) | [inline, static] |
Matrix3 se3::Symmetric3Tpl< _Scalar, _Options >::matrix | ( | ) | const [inline] |
Referenced by se3::Symmetric3Tpl< double, 0 >::operator Matrix3().
se3::Symmetric3Tpl< _Scalar, _Options >::operator Matrix3 | ( | ) | const [inline] |
const Scalar& se3::Symmetric3Tpl< _Scalar, _Options >::operator() | ( | const int & | i, |
const int & | j | ||
) | const [inline] |
Vector3 se3::Symmetric3Tpl< _Scalar, _Options >::operator* | ( | const Vector3 & | v | ) | const [inline] |
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator+ | ( | const Symmetric3Tpl< _Scalar, _Options > & | s2 | ) | const [inline] |
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator+ | ( | const Matrix3 & | S | ) | const [inline] |
Symmetric3Tpl& se3::Symmetric3Tpl< _Scalar, _Options >::operator+= | ( | const Symmetric3Tpl< _Scalar, _Options > & | s2 | ) | [inline] |
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator- | ( | const SkewSquare & | v | ) | const [inline] |
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator- | ( | const AlphaSkewSquare & | v | ) | const [inline] |
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::operator- | ( | const Matrix3 & | S | ) | const [inline] |
Symmetric3Tpl& se3::Symmetric3Tpl< _Scalar, _Options >::operator-= | ( | const SkewSquare & | v | ) | [inline] |
Symmetric3Tpl& se3::Symmetric3Tpl< _Scalar, _Options >::operator-= | ( | const AlphaSkewSquare & | v | ) | [inline] |
bool se3::Symmetric3Tpl< _Scalar, _Options >::operator== | ( | const Symmetric3Tpl< _Scalar, _Options > & | S2 | ) | const [inline] |
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::Random | ( | ) | [inline, static] |
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::RandomPositive | ( | ) | [inline, static] |
Referenced by se3::Symmetric3Tpl< double, 0 >::Random().
Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::rotate | ( | const Eigen::MatrixBase< D > & | R | ) | const [inline] |
void se3::Symmetric3Tpl< _Scalar, _Options >::setIdentity | ( | ) | [inline] |
Referenced by se3::InertiaTpl< double, 0 >::setIdentity().
void se3::Symmetric3Tpl< _Scalar, _Options >::setRandom | ( | ) | [inline] |
Referenced by se3::InertiaTpl< double, 0 >::setRandom().
void se3::Symmetric3Tpl< _Scalar, _Options >::setZero | ( | ) | [inline] |
Referenced by se3::InertiaTpl< double, 0 >::setZero().
Scalar se3::Symmetric3Tpl< _Scalar, _Options >::vtiv | ( | const Vector3 & | v | ) | const [inline] |
Referenced by se3::InertiaTpl< double, 0 >::vtiv_impl().
static Symmetric3Tpl se3::Symmetric3Tpl< _Scalar, _Options >::Zero | ( | ) | [inline, static] |
AlphaSkewSquare operator* | ( | const Scalar & | m, |
const SkewSquare & | sk | ||
) | [friend] |
Matrix3 operator- | ( | const Symmetric3Tpl< _Scalar, _Options > & | S, |
const Eigen::MatrixBase< D > & | M | ||
) | [friend] |
Vector6 se3::Symmetric3Tpl< _Scalar, _Options >::data_ [protected] |
Referenced by se3::Symmetric3Tpl< double, 0 >::data(), se3::Symmetric3Tpl< double, 0 >::decomposeltI(), se3::Symmetric3Tpl< double, 0 >::fill(), se3::Symmetric3Tpl< double, 0 >::matrix(), se3::Symmetric3Tpl< double, 0 >::operator()(), se3::Symmetric3Tpl< double, 0 >::operator*(), se3::Symmetric3Tpl< double, 0 >::operator+(), se3::Symmetric3Tpl< double, 0 >::operator+=(), se3::Symmetric3Tpl< double, 0 >::operator-(), se3::Symmetric3Tpl< double, 0 >::operator-=(), se3::Symmetric3Tpl< double, 0 >::operator==(), se3::Symmetric3Tpl< double, 0 >::rotate(), se3::Symmetric3Tpl< double, 0 >::setIdentity(), se3::Symmetric3Tpl< double, 0 >::setRandom(), se3::Symmetric3Tpl< double, 0 >::setZero(), se3::Symmetric3Tpl< double, 0 >::Symmetric3Tpl(), and se3::Symmetric3Tpl< double, 0 >::vtiv().