se3::InertiaTpl< _Scalar, _Options > Class Template Reference

#include <spatial/inertia.hpp>

Inheritance diagram for se3::InertiaTpl< _Scalar, _Options >:
[legend]
Collaboration diagram for se3::InertiaTpl< _Scalar, _Options >:
[legend]

List of all members.

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)
void setZero ()
void setIdentity ()
void setRandom ()
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 Vector3lever () const
const Symmetric3inertia () const
Scalar_t & mass ()
Vector3lever ()
Symmetric3inertia ()
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 ()
static InertiaTpl FromEllipsoid (const Scalar_t m, const Scalar_t x, const Scalar_t y, const Scalar_t z)
static InertiaTpl FromCylinder (const Scalar_t m, const Scalar_t r, const Scalar_t l)
static InertiaTpl FromBox (const Scalar_t m, const Scalar_t x, const Scalar_t y, const Scalar_t z)

Protected Attributes

Scalar_t m
Vector3 c
Symmetric3 I

Friends

class InertiaBase< InertiaTpl< _Scalar, _Options > >

template<typename _Scalar, int _Options>
class se3::InertiaTpl< _Scalar, _Options >


Constructor & Destructor Documentation

template<typename _Scalar, int _Options>
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl ( const Scalar_t  m_,
const Vector3 c_,
const Matrix3 I_ 
) [inline]
template<typename _Scalar, int _Options>
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl ( const Matrix6 &  I6) [inline]
template<typename _Scalar, int _Options>
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl ( Scalar_t  _m,
const Vector3 _c,
const Symmetric3 _I 
) [inline]
template<typename _Scalar, int _Options>
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl ( const InertiaTpl< _Scalar, _Options > &  clone) [inline]
template<typename _Scalar, int _Options>
template<typename S2 , int O2>
se3::InertiaTpl< _Scalar, _Options >::InertiaTpl ( const InertiaTpl< S2, O2 > &  clone) [inline]

Member Function Documentation

template<typename _Scalar, int _Options>
InertiaTpl& se3::InertiaTpl< _Scalar, _Options >::__equl__ ( const InertiaTpl< _Scalar, _Options > &  clone) [inline]
template<typename _Scalar, int _Options>
Force se3::InertiaTpl< _Scalar, _Options >::__mult__ ( const Motion v) const [inline]
template<typename _Scalar, int _Options>
InertiaTpl& se3::InertiaTpl< _Scalar, _Options >::__pequ__ ( const InertiaTpl< _Scalar, _Options > &  Yb) [inline]
template<typename _Scalar, int _Options>
InertiaTpl se3::InertiaTpl< _Scalar, _Options >::__plus__ ( const InertiaTpl< _Scalar, _Options > &  Yb) const [inline]
template<typename _Scalar, int _Options>
void se3::InertiaTpl< _Scalar, _Options >::disp_impl ( std::ostream &  os) const [inline]
template<typename _Scalar, int _Options>
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::FromBox ( const Scalar_t  m,
const Scalar_t  x,
const Scalar_t  y,
const Scalar_t  z 
) [inline, static]
template<typename _Scalar, int _Options>
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::FromCylinder ( const Scalar_t  m,
const Scalar_t  r,
const Scalar_t  l 
) [inline, static]
template<typename _Scalar, int _Options>
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::FromEllipsoid ( const Scalar_t  m,
const Scalar_t  x,
const Scalar_t  y,
const Scalar_t  z 
) [inline, static]
template<typename _Scalar, int _Options>
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::Identity ( ) [inline, static]
template<typename _Scalar, int _Options>
const Symmetric3& se3::InertiaTpl< _Scalar, _Options >::inertia ( ) const [inline]
template<typename _Scalar, int _Options>
Symmetric3& se3::InertiaTpl< _Scalar, _Options >::inertia ( ) [inline]
template<typename _Scalar, int _Options>
bool se3::InertiaTpl< _Scalar, _Options >::isEqual ( const InertiaTpl< _Scalar, _Options > &  Y2) const [inline]
template<typename _Scalar, int _Options>
const Vector3& se3::InertiaTpl< _Scalar, _Options >::lever ( ) const [inline]
template<typename _Scalar, int _Options>
Vector3& se3::InertiaTpl< _Scalar, _Options >::lever ( ) [inline]
template<typename _Scalar, int _Options>
Scalar_t se3::InertiaTpl< _Scalar, _Options >::mass ( ) const [inline]
template<typename _Scalar, int _Options>
Scalar_t& se3::InertiaTpl< _Scalar, _Options >::mass ( ) [inline]
template<typename _Scalar, int _Options>
Matrix6 se3::InertiaTpl< _Scalar, _Options >::matrix_impl ( ) const [inline]
template<typename _Scalar, int _Options>
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::Random ( ) [inline, static]
template<typename _Scalar, int _Options>
InertiaTpl se3::InertiaTpl< _Scalar, _Options >::se3Action_impl ( const SE3 M) const [inline]
template<typename _Scalar, int _Options>
InertiaTpl se3::InertiaTpl< _Scalar, _Options >::se3ActionInverse_impl ( const SE3 M) const [inline]
template<typename _Scalar, int _Options>
void se3::InertiaTpl< _Scalar, _Options >::setIdentity ( ) [inline]
template<typename _Scalar, int _Options>
void se3::InertiaTpl< _Scalar, _Options >::setRandom ( ) [inline]
template<typename _Scalar, int _Options>
void se3::InertiaTpl< _Scalar, _Options >::setZero ( ) [inline]
template<typename _Scalar, int _Options>
se3::InertiaTpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE ( InertiaTpl< _Scalar, _Options >  )
template<typename _Scalar, int _Options>
Scalar_t se3::InertiaTpl< _Scalar, _Options >::vtiv_impl ( const Motion v) const [inline]
template<typename _Scalar, int _Options>
Force se3::InertiaTpl< _Scalar, _Options >::vxiv ( const Motion v) const [inline]
template<typename _Scalar, int _Options>
static InertiaTpl se3::InertiaTpl< _Scalar, _Options >::Zero ( ) [inline, static]

Friends And Related Function Documentation

template<typename _Scalar, int _Options>
friend class InertiaBase< InertiaTpl< _Scalar, _Options > > [friend]

Member Data Documentation