#include <spatial/motion.hpp>
Public Member Functions | |
SPATIAL_TYPEDEF_TEMPLATE (MotionTpl) | |
MotionTpl () | |
template<typename v1 , typename v2 > | |
MotionTpl (const Eigen::MatrixBase< v1 > &v, const Eigen::MatrixBase< v2 > &w) | |
template<typename v6 > | |
MotionTpl (const Eigen::MatrixBase< v6 > &v) | |
template<typename S2 , int O2> | |
MotionTpl (const MotionTpl< S2, O2 > &clone) | |
MotionTpl & | setZero () |
MotionTpl & | setRandom () |
const Vector6 & | toVector_impl () const |
Vector6 & | toVector_impl () |
ActionMatrix_t | toActionMatrix_impl () const |
ConstAngular_t | angular_impl () const |
ConstLinear_t | linear_impl () const |
Angular_t | angular_impl () |
Linear_t | linear_impl () |
template<typename D > | |
void | angular_impl (const Eigen::MatrixBase< D > &w) |
template<typename D > | |
void | linear_impl (const Eigen::MatrixBase< D > &v) |
bool | isEqual (const MotionTpl &other) const |
template<typename S2 , int O2> | |
MotionTpl & | operator= (const MotionTpl< S2, O2 > &other) |
template<typename V6 > | |
MotionTpl & | operator= (const Eigen::MatrixBase< V6 > &v) |
MotionTpl | __minus__ () const |
MotionTpl | __plus__ (const MotionTpl &v2) const |
MotionTpl | __minus__ (const MotionTpl &v2) const |
MotionTpl & | __pequ__ (const MotionTpl &v2) |
Scalar_t | dot (const Force &f) const |
MotionTpl | cross (const MotionTpl &v2) const |
Force | cross (const Force &phi) const |
MotionTpl | se3Action_impl (const SE3 &m) const |
MotionTpl | se3ActionInverse_impl (const SE3 &m) const |
bv = aXb.actInv(av) | |
void | disp_impl (std::ostream &os) const |
Static Public Member Functions | |
static MotionTpl | Zero () |
static MotionTpl | Random () |
Protected Attributes | |
Vector6 | data |
Compute the classical acceleration of point according to the spatial velocity and spatial acceleration of the frame centered on this point. |
se3::MotionTpl< _Scalar, _Options >::MotionTpl | ( | ) | [inline] |
Referenced by se3::MotionTpl< Scalar, Options >::__minus__(), se3::MotionTpl< Scalar, Options >::__plus__(), se3::MotionTpl< Scalar, Options >::cross(), se3::MotionTpl< Scalar, Options >::Random(), se3::MotionTpl< Scalar, Options >::se3Action_impl(), se3::MotionTpl< Scalar, Options >::se3ActionInverse_impl(), and se3::MotionTpl< Scalar, Options >::Zero().
se3::MotionTpl< _Scalar, _Options >::MotionTpl | ( | const Eigen::MatrixBase< v1 > & | v, |
const Eigen::MatrixBase< v2 > & | w | ||
) | [inline] |
se3::MotionTpl< _Scalar, _Options >::MotionTpl | ( | const Eigen::MatrixBase< v6 > & | v | ) | [inline, explicit] |
se3::MotionTpl< _Scalar, _Options >::MotionTpl | ( | const MotionTpl< S2, O2 > & | clone | ) | [inline, explicit] |
MotionTpl se3::MotionTpl< _Scalar, _Options >::__minus__ | ( | ) | const [inline] |
MotionTpl se3::MotionTpl< _Scalar, _Options >::__minus__ | ( | const MotionTpl< _Scalar, _Options > & | v2 | ) | const [inline] |
MotionTpl& se3::MotionTpl< _Scalar, _Options >::__pequ__ | ( | const MotionTpl< _Scalar, _Options > & | v2 | ) | [inline] |
MotionTpl se3::MotionTpl< _Scalar, _Options >::__plus__ | ( | const MotionTpl< _Scalar, _Options > & | v2 | ) | const [inline] |
ConstAngular_t se3::MotionTpl< _Scalar, _Options >::angular_impl | ( | ) | const [inline] |
Angular_t se3::MotionTpl< _Scalar, _Options >::angular_impl | ( | ) | [inline] |
void se3::MotionTpl< _Scalar, _Options >::angular_impl | ( | const Eigen::MatrixBase< D > & | w | ) | [inline] |
MotionTpl se3::MotionTpl< _Scalar, _Options >::cross | ( | const MotionTpl< _Scalar, _Options > & | v2 | ) | const [inline] |
Referenced by se3::MotionTpl< Scalar, Options >::cross(), and se3::operator^().
Force se3::MotionTpl< _Scalar, _Options >::cross | ( | const Force & | phi | ) | const [inline] |
void se3::MotionTpl< _Scalar, _Options >::disp_impl | ( | std::ostream & | os | ) | const [inline] |
Scalar_t se3::MotionTpl< _Scalar, _Options >::dot | ( | const Force & | f | ) | const [inline] |
Reimplemented from se3::MotionBase< MotionTpl< _Scalar, _Options > >.
bool se3::MotionTpl< _Scalar, _Options >::isEqual | ( | const MotionTpl< _Scalar, _Options > & | other | ) | const [inline] |
ConstLinear_t se3::MotionTpl< _Scalar, _Options >::linear_impl | ( | ) | const [inline] |
Linear_t se3::MotionTpl< _Scalar, _Options >::linear_impl | ( | ) | [inline] |
void se3::MotionTpl< _Scalar, _Options >::linear_impl | ( | const Eigen::MatrixBase< D > & | v | ) | [inline] |
MotionTpl& se3::MotionTpl< _Scalar, _Options >::operator= | ( | const MotionTpl< S2, O2 > & | other | ) | [inline] |
MotionTpl& se3::MotionTpl< _Scalar, _Options >::operator= | ( | const Eigen::MatrixBase< V6 > & | v | ) | [inline] |
static MotionTpl se3::MotionTpl< _Scalar, _Options >::Random | ( | ) | [inline, static] |
MotionTpl se3::MotionTpl< _Scalar, _Options >::se3Action_impl | ( | const SE3 & | m | ) | const [inline] |
MotionTpl se3::MotionTpl< _Scalar, _Options >::se3ActionInverse_impl | ( | const SE3 & | m | ) | const [inline] |
bv = aXb.actInv(av)
MotionTpl& se3::MotionTpl< _Scalar, _Options >::setRandom | ( | ) | [inline] |
MotionTpl& se3::MotionTpl< _Scalar, _Options >::setZero | ( | ) | [inline] |
Referenced by se3::MotionTpl< Scalar, Options >::toActionMatrix_impl().
se3::MotionTpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE | ( | MotionTpl< _Scalar, _Options > | ) |
ActionMatrix_t se3::MotionTpl< _Scalar, _Options >::toActionMatrix_impl | ( | ) | const [inline] |
const Vector6& se3::MotionTpl< _Scalar, _Options >::toVector_impl | ( | ) | const [inline] |
Vector6& se3::MotionTpl< _Scalar, _Options >::toVector_impl | ( | ) | [inline] |
static MotionTpl se3::MotionTpl< _Scalar, _Options >::Zero | ( | ) | [inline, static] |
Vector6 se3::MotionTpl< _Scalar, _Options >::data [protected] |
Compute the classical acceleration of point according to the spatial velocity and spatial acceleration of the frame centered on this point.
Compute the spatial motion quantity of the parallel frame translated by translation_vector
Referenced by se3::MotionTpl< Scalar, Options >::__minus__(), se3::MotionTpl< Scalar, Options >::__pequ__(), se3::MotionTpl< Scalar, Options >::__plus__(), se3::MotionTpl< Scalar, Options >::angular_impl(), se3::MotionTpl< Scalar, Options >::dot(), se3::MotionTpl< Scalar, Options >::isEqual(), se3::MotionTpl< Scalar, Options >::linear_impl(), se3::MotionTpl< Scalar, Options >::MotionTpl(), se3::MotionTpl< Scalar, Options >::operator=(), se3::MotionTpl< Scalar, Options >::setRandom(), se3::MotionTpl< Scalar, Options >::setZero(), and se3::MotionTpl< Scalar, Options >::toVector_impl().