Template Class MotionBase

Defined in File motion-base.hpp

Inheritance Relationships

Derived Types

public pinocchio::MotionDense< MotionRef< Vector6ArgType > > (Template Class MotionDense)
public pinocchio::MotionDense< MotionRef< const Vector6ArgType > > (Template Class MotionDense)
public pinocchio::MotionDense< MotionTpl< _Scalar, _Options > > (Template Class MotionDense)
public pinocchio::MotionDense< pinocchio::MotionTpl > (Template Class MotionDense)
public pinocchio::MotionDense< MotionTpl< Scalar, _Options > > (Template Class MotionDense)
public pinocchio::MotionDense< pinocchio::MotionRef > (Template Class MotionDense)
public pinocchio::MotionDense< Derived > (Template Class MotionDense)

Class Documentation

template<class Derived> class MotionBase

Subclassed by pinocchio::MotionDense< MotionRef< Vector6ArgType > >, pinocchio::MotionDense< MotionRef< const Vector6ArgType > >, pinocchio::MotionDense< MotionTpl< _Scalar, _Options > >, pinocchio::MotionDense< pinocchio::MotionTpl >, pinocchio::MotionDense< MotionTpl< Scalar, _Options > >, pinocchio::MotionDense< pinocchio::MotionRef >, pinocchio::MotionDense< Derived >

Public Functions

MOTION_TYPEDEF_TPL(Derived)

inline Derived &derived()

inline const Derived &derived() const

inline ConstAngularType angular() const

inline ConstLinearType linear() const

inline AngularType angular()

inline LinearType linear()

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

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

inline operator PlainReturnType() const

inline PlainReturnType plain() const

inline ToVectorConstReturnType toVector() const

inline ToVectorReturnType toVector()

inline operator Vector6() const

inline ActionMatrixType toActionMatrix() const

inline ActionMatrixType toDualActionMatrix() const

inline operator Matrix6() const

inline HomogeneousMatrixType toHomogeneousMatrix() const

The homogeneous representation of the motion vector \( \xi \).

With \( \hat{\xi} = \left( \begin{array}{cc} \omega & v \\ 0 & 0 \\ \end{array} \right) \),

\[ {}^a\dot{M}_b = \hat{\xi} {}^aM_b \]

Note

This function is provided for completeness, but it is not the best way to use Motion quantities in terms of sparsity exploitation and general efficiency. For integration, the recommended way is to use Motion vectors along with the integrate function.

inline void setZero()

template<typename M2> inline bool operator==(const MotionBase<M2> &other) const

template<typename M2> inline bool operator!=(const MotionBase<M2> &other) const

inline Derived operator-() const

inline Derived operator+(const MotionBase<Derived> &v) const

inline Derived operator-(const MotionBase<Derived> &v) const

inline Derived &operator+=(const MotionBase<Derived> &v)

inline Derived &operator-=(const MotionBase<Derived> &v)

template<typename OtherScalar> inline internal::RHSScalarMultiplication<Derived, OtherScalar>::ReturnType operator*(const OtherScalar &alpha) const

template<typename OtherScalar> inline Derived operator/(const OtherScalar &alpha) const

template<typename OtherSpatialType> inline MotionAlgebraAction<OtherSpatialType, Derived>::ReturnType cross(const OtherSpatialType &d) const

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

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

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

template<typename ForceDerived> inline Scalar dot(const ForceDense<ForceDerived> &f) const

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

Friends

inline friend std::ostream &operator<<(std::ostream &os, const MotionBase<Derived> &v)