Template Class ForceBase

Inheritance Relationships

Derived Types

Class Documentation

template<class Derived>
class ForceBase

Base interface for forces representation.

The Class implements all

This class hierarchy represents a spatial force, e.g. a spatial impulse or force associated to a body. The spatial force is the mathematical representation of \( se^{*}(3) \), the dual of \( se(3) \).

Template Parameters:

Derived – { description }

Subclassed by pinocchio::ForceDense< ForceRef< Vector6ArgType > >, pinocchio::ForceDense< ForceRef< const Vector6ArgType > >, pinocchio::ForceDense< ForceTpl< _Scalar, _Options > >, pinocchio::ForceDense< ForceTpl< Scalar, _Options > >, pinocchio::ForceDense< pinocchio::ForceTpl >, pinocchio::ForceDense< pinocchio::ForceRef >, pinocchio::ForceDense< Derived >

Public Functions

FORCE_TYPEDEF_TPL(Derived)
inline Derived &derived()
inline const Derived &derived() const
inline ConstAngularType angular() const

Return the angular part of the force vector.

Returns:

The 3D vector associated to the angular part of the 6D force vector

inline ConstLinearType linear() const

Return the linear part of the force vector.

Returns:

The 3D vector associated to the linear part of the 6D force vector

inline AngularType angular()

Return the angular part of the force vector.

Returns:

The 3D vector associated to the angular part of the 6D force vector

inline LinearType linear()

Return the linear part of the force vector.

Returns:

The 3D vector associated to the linear part of the 6D force vector

template<typename V3Like>
inline void angular(const Eigen::MatrixBase<V3Like> &n)

Set the angular part of the force vector.

Template Parameters:

V3Like – A vector 3 like type.

Parameters:

n – [in]

template<typename V3Like>
inline void linear(const Eigen::MatrixBase<V3Like> &f)

Set the linear part of the force vector.

Template Parameters:

V3Like – A vector 3 like type.

Parameters:

f – [in]

inline ToVectorConstReturnType toVector() const

Return the force as an Eigen vector.

Returns:

The 6D vector \( \phi \) such that

\[\begin{split}\begin{equation*} {}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix} \end{equation*}\end{split}\]

inline ToVectorReturnType toVector()

Return the force as an Eigen vector.

Returns:

The 6D vector \( \phi \) such that

\[\begin{split}\begin{equation*} {}^{A}\phi = \begin{bmatrix} {}^{A}f \\ {}^{A}\tau \end{bmatrix} \end{equation*}\end{split}\]

inline operator Vector6() const
template<typename F2>
inline bool operator==(const ForceBase<F2> &other) const

Warning

When using floating point scalar values you probably should rather use a fuzzy comparison such as isApprox()

Returns:

true if each coefficients of *this and other are all exactly equal.

template<typename F2>
inline bool operator!=(const ForceBase<F2> &other) const
Returns:

true if at least one coefficient of *this and other does not match.

inline bool isApprox(const Derived &other, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
Returns:

true if *this is approximately equal to other, within the precision given by prec.

inline bool isZero(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
Returns:

true if the component of the linear and angular part of the Spatial Force are approximately equal to zero, within the precision given by prec.

inline Derived &operator=(const ForceBase<Derived> &other)

Copies the Derived Force into *this.

Returns:

a reference to *this

inline Derived &operator+=(const ForceBase<Derived> &phi)

Replaces *this by *this + other.

Returns:

a reference to *this

inline Derived &operator-=(const ForceBase<Derived> &phi)

Replaces *this by *this - other.

Returns:

a reference to *this

inline Derived operator+(const ForceBase<Derived> &phi) const
Returns:

an expression of the sum of *this and other

template<typename OtherScalar>
inline ForcePlain operator*(const OtherScalar &alpha) const
Returns:

an expression of *this scaled by the factor alpha

template<typename OtherScalar>
inline ForcePlain operator/(const OtherScalar &alpha) const
Returns:

an expression of *this divided by the factor alpha

inline Derived operator-() const
Returns:

an expression of the opposite of *this

inline Derived operator-(const ForceBase<Derived> &phi) const
Returns:

an expression of the difference of *this and phi

template<typename MotionDerived>
inline Scalar dot(const MotionDense<MotionDerived> &m) const
Returns:

the dot product of *this with m *

template<typename S2, int O2>
inline SE3GroupAction<Derived>::ReturnType se3Action(const SE3Tpl<S2, O2> &m) const

Transform from A to B coordinates the Force represented by *this such that.

\[\begin{equation*} {}^{B}f = {}^{B}X_A^* * {}^{A}f \end{equation*}\]

Parameters:

m – [in] The rigid transformation \( {}^{B}m_A \) whose coordinates transform for forces is {}^{B}X_A^*

Returns:

an expression of the force expressed in the new coordinates

template<typename S2, int O2>
inline SE3GroupAction<Derived>::ReturnType se3ActionInverse(const SE3Tpl<S2, O2> &m) const

Transform from B to A coordinates the Force represented by *this such that.

\[\begin{equation*} {}^{A}f = {}^{A}X_B^* * {}^{A}f \end{equation*}\]

Parameters:

m – [in] The rigid transformation \( {}^{B}m_A \) whose coordinates transform for forces is {}^{B}X_A^*

Returns:

an expression of the force expressed in the new coordinates

template<typename M1>
inline MotionAlgebraAction<Derived, M1>::ReturnType motionAction(const MotionDense<M1> &v) const
inline void disp(std::ostream &os) const

Friends

inline friend std::ostream &operator<<(std::ostream &os, const ForceBase<Derived> &X)