Template Class MotionDense

Defined in File motion-dense.hpp

Inheritance Relationships

Base Type

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

Derived Type

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

Class Documentation

template<typename Derived> class MotionDense : public pinocchio::MotionBase<Derived>

Subclassed by pinocchio::MotionTpl< Scalar, Options >

Public Types

typedef MotionBase<Derived> Base

typedef traits<Derived>::MotionRefType MotionRefType

Public Functions

MOTION_TYPEDEF_TPL(Derived)

inline Derived &setZero()

inline Derived &setRandom()

inline ActionMatrixType toActionMatrix_impl() const

inline ActionMatrixType toDualActionMatrix_impl() const

inline HomogeneousMatrixType toHomogeneousMatrix_impl() const

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

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

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

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

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

inline MotionPlain operator-() const

template<typename M1> inline MotionPlain operator+(const MotionDense<M1> &v) const

template<typename M1> inline MotionPlain operator-(const MotionDense<M1> &v) const

template<typename M1> inline Derived &operator+=(const MotionDense<M1> &v)

template<typename M1> inline Derived &operator+=(const MotionBase<M1> &v)

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

inline MotionPlain __opposite__() const

template<typename M1> inline MotionPlain __plus__(const MotionDense<M1> &v) const

template<typename M1> inline MotionPlain __minus__(const MotionDense<M1> &v) const

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

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

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

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

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

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

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

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

template<typename M2> inline bool isApprox(const MotionDense<M2> &m2, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

template<typename D2> inline bool isApprox_impl(const MotionDense<D2> &m2, 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, MotionDense<D2> &v) const

template<typename S2, int O2> inline SE3GroupAction<Derived>::ReturnType se3Action_impl(const SE3Tpl<S2, O2> &m) const

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

template<typename S2, int O2> inline SE3GroupAction<Derived>::ReturnType se3ActionInverse_impl(const SE3Tpl<S2, O2> &m) const

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

inline MotionRefType ref()

Returns:: a MotionRef on this.

inline ConstLinearType linear() const

inline LinearType linear()

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

inline ConstAngularType angular() const

inline AngularType angular()

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

inline Derived &derived()

inline const Derived &derived() 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