Program Listing for File force-base.hpp
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)
//
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
#ifndef __pinocchio_force_base_hpp__
#define __pinocchio_force_base_hpp__
namespace pinocchio
{
template< class Derived>
class ForceBase
{
public:
FORCE_TYPEDEF_TPL(Derived);
Derived & derived() { return *static_cast<Derived*>(this); }
const Derived& derived() const { return *static_cast<const Derived*>(this); }
ConstAngularType angular() const { return derived().angular_impl(); }
ConstLinearType linear() const { return derived().linear_impl(); }
AngularType angular() { return derived().angular_impl(); }
LinearType linear() { return derived().linear_impl(); }
template<typename V3Like>
void angular(const Eigen::MatrixBase<V3Like> & n)
{ derived().angular_impl(n.derived()); }
template<typename V3Like>
void linear(const Eigen::MatrixBase<V3Like> & f)
{ derived().linear_impl(f.derived()); }
ToVectorConstReturnType toVector() const { return derived().toVector_impl(); }
ToVectorReturnType toVector() { return derived().toVector_impl(); }
/*
* @brief C-style cast operator
* \copydoc ForceBase::toVector
*/
operator Vector6() const { return toVector(); }
template<typename F2>
bool operator==(const ForceBase<F2> & other) const {return derived().isEqual_impl(other.derived());}
template<typename F2>
bool operator!=(const ForceBase<F2> & other) const { return !(derived() == other.derived()); }
bool isApprox(const Derived & other, const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
{ return derived().isApprox_impl(other, prec); }
bool isZero(const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
{ return derived().isZero_impl(prec); }
Derived & operator=(const ForceBase<Derived> & other)
{ return derived().setFrom(other.derived()); }
Derived & operator+= (const ForceBase<Derived> & phi) { return derived().__pequ__(phi.derived()); }
Derived & operator-= (const ForceBase<Derived> & phi) { return derived().__mequ__(phi.derived()); }
Derived operator+(const ForceBase<Derived> & phi) const { return derived().__plus__(phi.derived()); }
template<typename OtherScalar>
ForcePlain operator*(const OtherScalar & alpha) const { return derived().__mult__(alpha); }
template<typename OtherScalar>
ForcePlain operator/(const OtherScalar & alpha) const { return derived().__div__(alpha); }
Derived operator-() const { return derived().__opposite__(); }
Derived operator-(const ForceBase<Derived> & phi) const { return derived().__minus__(phi.derived()); }
template<typename MotionDerived>
Scalar dot(const MotionDense<MotionDerived> & m) const { return derived().dot(m.derived()); }
template<typename S2, int O2>
typename SE3GroupAction<Derived>::ReturnType
se3Action(const SE3Tpl<S2,O2> & m) const
{ return derived().se3Action_impl(m); }
template<typename S2, int O2>
typename SE3GroupAction<Derived>::ReturnType
se3ActionInverse(const SE3Tpl<S2,O2> & m) const
{ return derived().se3ActionInverse_impl(m); }
template<typename M1>
typename MotionAlgebraAction<Derived,M1>::ReturnType
motionAction(const MotionDense<M1> & v) const
{
return derived().motionAction(v.derived());
}
void disp(std::ostream & os) const { derived().disp_impl(os); }
friend std::ostream & operator << (std::ostream & os, const ForceBase<Derived> & X)
{
X.disp(os);
return os;
}
}; // class ForceBase
} // namespace pinocchio
#endif // ifndef __pinocchio_force_base_hpp__