#include <spatial/inertia.hpp>
Public Member Functions | |
Derived_t & | derived () |
const Derived_t & | derived () const |
Scalar_t | mass () const |
Scalar_t & | mass () |
const Vector3 & | lever () const |
Vector3 & | lever () |
const Symmetric3 & | inertia () const |
Symmetric3 & | inertia () |
Matrix6 | matrix () const |
operator Matrix6 () const | |
Derived_t & | operator= (const Derived_t &clone) |
bool | operator== (const Derived_t &other) const |
Derived_t & | operator+= (const Derived_t &Yb) |
Derived_t | operator+ (const Derived_t &Yb) const |
Force | operator* (const Motion &v) const |
Scalar_t | vtiv (const Motion &v) const |
void | setZero () |
void | setIdentity () |
void | setRandom () |
Derived_t | se3Action (const SE3 &M) const |
aI = aXb.act(bI) | |
Derived_t | se3ActionInverse (const SE3 &M) const |
bI = aXb.actInv(aI) | |
void | disp (std::ostream &os) const |
Protected Types | |
typedef Derived | Derived_t |
Protected Member Functions | |
SPATIAL_TYPEDEF_TEMPLATE (Derived_t) | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const InertiaBase< Derived_t > &X) |
typedef Derived se3::InertiaBase< Derived >::Derived_t [protected] |
Derived_t& se3::InertiaBase< Derived >::derived | ( | ) | [inline] |
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::matrix(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::operator*(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::operator+(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::operator+=(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::operator=(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::operator==(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::se3Action(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::se3ActionInverse(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::setIdentity(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::setRandom(), se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::setZero(), and se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::vtiv().
const Derived_t& se3::InertiaBase< Derived >::derived | ( | ) | const [inline] |
void se3::InertiaBase< Derived >::disp | ( | std::ostream & | os | ) | const [inline] |
const Symmetric3& se3::InertiaBase< Derived >::inertia | ( | ) | const [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::inertia().
Symmetric3& se3::InertiaBase< Derived >::inertia | ( | ) | [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::inertia().
const Vector3& se3::InertiaBase< Derived >::lever | ( | ) | const [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::lever().
Vector3& se3::InertiaBase< Derived >::lever | ( | ) | [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::lever().
Scalar_t se3::InertiaBase< Derived >::mass | ( | ) | const [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::mass().
Scalar_t& se3::InertiaBase< Derived >::mass | ( | ) | [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
Referenced by se3::InertiaBase< InertiaTpl< _Scalar, _Options > >::mass().
Matrix6 se3::InertiaBase< Derived >::matrix | ( | ) | const [inline] |
se3::InertiaBase< Derived >::operator Matrix6 | ( | ) | const [inline] |
Force se3::InertiaBase< Derived >::operator* | ( | const Motion & | v | ) | const [inline] |
Derived_t se3::InertiaBase< Derived >::operator+ | ( | const Derived_t & | Yb | ) | const [inline] |
Derived_t& se3::InertiaBase< Derived >::operator+= | ( | const Derived_t & | Yb | ) | [inline] |
Derived_t& se3::InertiaBase< Derived >::operator= | ( | const Derived_t & | clone | ) | [inline] |
bool se3::InertiaBase< Derived >::operator== | ( | const Derived_t & | other | ) | const [inline] |
Derived_t se3::InertiaBase< Derived >::se3Action | ( | const SE3 & | M | ) | const [inline] |
aI = aXb.act(bI)
Derived_t se3::InertiaBase< Derived >::se3ActionInverse | ( | const SE3 & | M | ) | const [inline] |
bI = aXb.actInv(aI)
void se3::InertiaBase< Derived >::setIdentity | ( | ) | [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
void se3::InertiaBase< Derived >::setRandom | ( | ) | [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
void se3::InertiaBase< Derived >::setZero | ( | ) | [inline] |
Reimplemented in se3::InertiaTpl< _Scalar, _Options >, and se3::InertiaTpl< double, 0 >.
se3::InertiaBase< Derived >::SPATIAL_TYPEDEF_TEMPLATE | ( | Derived_t | ) | [protected] |
Scalar_t se3::InertiaBase< Derived >::vtiv | ( | const Motion & | v | ) | const [inline] |
std::ostream& operator<< | ( | std::ostream & | os, |
const InertiaBase< Derived_t > & | X | ||
) | [friend] |