Template Class InertiaBase

Defined in File inertia.hpp

Inheritance Relationships

Derived Type

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

Class Documentation

template<class Derived> class InertiaBase

Subclassed by pinocchio::InertiaTpl< Scalar, Options >

Public Functions

inline Derived_t &derived()

inline const Derived_t &derived() const

inline Scalar mass() const

inline Scalar &mass()

inline const Vector3 &lever() const

inline Vector3 &lever()

inline const Symmetric3 &inertia() const

inline Symmetric3 &inertia()

inline Matrix6 matrix() const

inline operator Matrix6() const

inline Derived_t &operator=(const Derived_t &clone)

inline bool operator==(const Derived_t &other) const

inline bool operator!=(const Derived_t &other) const

inline Derived_t &operator+=(const Derived_t &Yb)

inline Derived_t operator+(const Derived_t &Yb) const

template<typename MotionDerived> inline ForceTpl<typename traits<MotionDerived>::Scalar, traits<MotionDerived>::Options> operator*(const MotionDense<MotionDerived> &v) const

inline Scalar vtiv(const Motion &v) const

inline Matrix6 variation(const Motion &v) const

inline Matrix6 vxi(const Motion &v) const

inline Matrix6 ivx(const Motion &v) const

inline void setZero()

inline void setIdentity()

inline void setRandom()

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

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

inline Derived_t se3Action(const SE3 &M) const: aI = aXb.act(bI)

inline Derived_t se3ActionInverse(const SE3 &M) const: bI = aXb.actInv(aI)

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

Public Static Functions

template<typename M6> static inline void vxi(const Motion &v, const Derived &I, const Eigen::MatrixBase<M6> &Iout)

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \).

Parameters:

v – [in] The spatial velocity of the frame supporting the inertia.
I – [in] The spatial inertia in motion.
Iout – [out] The time derivative of the inertia I.

template<typename M6> static inline void ivx(const Motion &v, const Derived &I, const Eigen::MatrixBase<M6> &Iout)

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula \( \dot{I} = v \times^{*} I \).

Parameters:

v – [in] The spatial velocity of the frame supporting the inertia.
I – [in] The spatial inertia in motion.
Iout – [out] The time derivative of the inertia I.

Protected Types

typedef Derived Derived_t

Protected Functions

SPATIAL_TYPEDEF_TEMPLATE(Derived_t)

Friends

inline friend std::ostream &operator<<(std::ostream &os, const InertiaBase<Derived_t> &X)