Template Class ForceDense

Defined in File force-dense.hpp

Inheritance Relationships

Base Type

public pinocchio::ForceBase< Derived > (Template Class ForceBase)

Derived Type

public pinocchio::ForceTpl< Scalar, Options > (Template Class ForceTpl)

Class Documentation

template<typename Derived> class ForceDense : public pinocchio::ForceBase<Derived>

Subclassed by pinocchio::ForceTpl< Scalar, Options >

Public Types

typedef ForceBase<Derived> Base

typedef traits<Derived>::ForceRefType ForceRefType

Public Functions

FORCE_TYPEDEF_TPL(Derived)

inline Derived &setZero()

inline Derived &setRandom()

template<typename D2> inline bool isEqual_impl(const ForceDense<D2> &other) const

template<typename D2> inline bool isEqual_impl(const ForceBase<D2> &other) const

template<typename D2> inline Derived &setFrom(const ForceDense<D2> &other)

template<typename D2> inline Derived &operator=(const ForceDense<D2> &other)

template<typename V6> inline Derived &operator=(const Eigen::MatrixBase<V6> &v)

inline ForcePlain operator-() const

template<typename F1> inline ForcePlain operator+(const ForceDense<F1> &f) const

template<typename F1> inline ForcePlain operator-(const ForceDense<F1> &f) const

template<typename F1> inline Derived &operator+=(const ForceDense<F1> &f)

template<typename F1> inline Derived &operator+=(const ForceBase<F1> &f)

template<typename M1> inline Derived &operator-=(const ForceDense<M1> &v)

inline ForcePlain __opposite__() const

template<typename M1> inline ForcePlain __plus__(const ForceDense<M1> &v) const

template<typename M1> inline ForcePlain __minus__(const ForceDense<M1> &v) const

template<typename M1> inline Derived &__pequ__(const ForceDense<M1> &v)

template<typename M1> inline Derived &__mequ__(const ForceDense<M1> &v)

template<typename OtherScalar> inline ForcePlain __mult__(const OtherScalar &alpha) const

template<typename OtherScalar> inline ForcePlain __div__(const OtherScalar &alpha) const

template<typename F1> inline Scalar dot(const MotionDense<F1> &phi) const

template<typename M1, typename M2> inline void motionAction(const MotionDense<M1> &v, ForceDense<M2> &fout) const

template<typename M1> inline ForcePlain motionAction(const MotionDense<M1> &v) const

template<typename M2> inline bool isApprox(const ForceDense<M2> &f, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

template<typename D2> inline bool isApprox_impl(const ForceDense<D2> &f, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline bool isZero_impl(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

template<typename S2, int O2, typename D2> inline void se3Action_impl(const SE3Tpl<S2, O2> &m, ForceDense<D2> &f) const

template<typename S2, int O2> inline ForcePlain se3Action_impl(const SE3Tpl<S2, O2> &m) const

template<typename S2, int O2, typename D2> inline void se3ActionInverse_impl(const SE3Tpl<S2, O2> &m, ForceDense<D2> &f) const

template<typename S2, int O2> inline ForcePlain se3ActionInverse_impl(const SE3Tpl<S2, O2> &m) const

inline void disp_impl(std::ostream &os) const

inline ForceRefType ref()

Returns:: a ForceRef on this.

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 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 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 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 AngularType angular()

Return the angular part of the force vector.

Returns:: The 3D vector associated to the angular 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]

inline Derived &derived()

inline const Derived &derived() const

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