Template Class ForceSetTpl

• Defined in File force-set.hpp

Nested Relationships

Nested Types

• Struct ForceSetTpl::Block

Class Documentation

template<typename _Scalar, int _Options>
class ForceSetTpl

Public Types

Values:

enumerator Options

typedef _Scalar Scalar

typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3

typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3

typedef Eigen::Matrix<Scalar, 6, 1, Options> Vector6

typedef Eigen::Matrix<Scalar, 6, 6, Options> Matrix6

typedef SE3Tpl<Scalar, Options> SE3

typedef Eigen::Matrix<Scalar, 3, Eigen::Dynamic, Options> Matrix3x

typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> Matrix6x

Public Functions

inline ForceSetTpl(const int &ncols)

inline ForceSetTpl(const Matrix3x &linear, const Matrix3x &angular)

inline Matrix6x matrix() const

inline operator Matrix6x() const

inline const Matrix3x &linear() const

inline const Matrix3x &angular() const

inline ForceSetTpl se3Action(const SE3 &m) const

af = aXb.act(bf)

inline ForceSetTpl se3ActionInverse(const SE3 &m) const

bf = aXb.actInv(af)

inline Block block(const int &idx, const int &len)

Friends

inline friend std::ostream &operator<<(std::ostream &os, const ForceSetTpl &phi)

struct Block

Public Functions

inline Block(ForceSetTpl &ref, const int &idx, const int &len)

inline Eigen::Block<ForceSetTpl::Matrix3x> linear()

inline Eigen::Block<ForceSetTpl::Matrix3x> angular()

inline Eigen::Block<const ForceSetTpl::Matrix3x> linear() const

inline Eigen::Block<const ForceSetTpl::Matrix3x> angular() const

inline ForceSetTpl::Matrix6x matrix() const

inline Block &operator=(const ForceSetTpl &copy)

inline Block &operator=(const ForceSetTpl::Block &copy)

template<typename D>
inline Block &operator=(const Eigen::MatrixBase<D> &m)

inline ForceSetTpl se3Action(const SE3 &m) const

af = aXb.act(bf)

inline ForceSetTpl se3ActionInverse(const SE3 &m) const

bf = aXb.actInv(af)

Public Members

ForceSetTpl &ref

int idx

int len