#include <fwd.hpp>

Inheritance diagram for pinocchio::InertiaTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options }

typedef Eigen::Matrix< _Scalar, 10, 1, _Options >	Vector10

Public Member Functions
InertiaTpl &	__equl__ (const InertiaTpl &clone)

template<typename MotionDerived >
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options >	__mult__ (const MotionDense< MotionDerived > &v) const

template<typename MotionDerived , typename ForceDerived >
void	__mult__ (const MotionDense< MotionDerived > &v, ForceDense< ForceDerived > &f) const

InertiaTpl &	__pequ__ (const InertiaTpl &Yb)

InertiaTpl	__plus__ (const InertiaTpl &Yb) const

template<typename NewScalar >
InertiaTpl< NewScalar, Options >	cast () const

void	disp_impl (std::ostream &os) const

const Symmetric3 &	inertia () const

Symmetric3 &	inertia ()

	InertiaTpl ()

	InertiaTpl (const Scalar mass, const Vector3 &com, const Matrix3 &rotational_inertia)

	InertiaTpl (const Matrix6 &I6)

	InertiaTpl (Scalar mass, const Vector3 &com, const Symmetric3 &rotational_inertia)

	InertiaTpl (const InertiaTpl &clone)

template<int O2>
	InertiaTpl (const InertiaTpl< Scalar, O2 > &clone)

bool	isApprox_impl (const InertiaTpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isEqual (const InertiaTpl &Y2) const

bool	isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

const Vector3 &	lever () const

Vector3 &	lever ()

Scalar	mass () const

Scalar &	mass ()

Matrix6	matrix_impl () const

InertiaTpl &	operator= (const InertiaTpl &clone)

InertiaTpl	se3Action_impl (const SE3 &M) const
	aI = aXb.act(bI) More...

InertiaTpl	se3ActionInverse_impl (const SE3 &M) const
	bI = aXb.actInv(aI) More...

void	setIdentity ()

void	setRandom ()

void	setZero ()

	SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl)

Vector10	toDynamicParameters () const

Matrix6	variation (const Motion &v) const

Scalar	vtiv_impl (const Motion &v) const

Force	vxiv (const Motion &v) const

Public Member Functions inherited from pinocchio::InertiaBase< InertiaTpl< _Scalar, _Options > >
Derived_t &	derived ()

const Derived_t &	derived () const

void	disp (std::ostream &os) const

const Symmetric3 &	inertia () const

Symmetric3 &	inertia ()

bool	isApprox (const InertiaTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

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

Matrix6	ivx (const Motion &v) const

const Vector3 &	lever () const

Vector3 &	lever ()

Scalar	mass () const

Scalar &	mass ()

Matrix6	matrix () const

	operator Matrix6 () const

bool	operator!= (const Derived_t &other) const

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

Derived_t	operator+ (const Derived_t &Yb) const

Derived_t &	operator+= (const Derived_t &Yb)

Derived_t &	operator= (const Derived_t &clone)

bool	operator== (const Derived_t &other) const

Derived_t	se3Action (const SE3 &M) const
	aI = aXb.act(bI) More...

Derived_t	se3ActionInverse (const SE3 &M) const
	bI = aXb.actInv(aI) More...

void	setIdentity ()

void	setRandom ()

void	setZero ()

Matrix6	variation (const Motion &v) const

Scalar	vtiv (const Motion &v) const

Matrix6	vxi (const Motion &v) const

Static Public Member Functions
static InertiaTpl	FromBox (const Scalar mass, const Scalar x, const Scalar y, const Scalar z)
	Computes the Inertia of a box defined by its mass and main dimensions (x,y,z). More...

static InertiaTpl	FromCylinder (const Scalar mass, const Scalar radius, const Scalar length)
	Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis. More...

template<typename Vector10Like >
static InertiaTpl	FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > &params)

static InertiaTpl	FromEllipsoid (const Scalar mass, const Scalar x, const Scalar y, const Scalar z)
	Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z). More...

static InertiaTpl	FromSphere (const Scalar mass, const Scalar radius)
	Computes the Inertia of a sphere defined by its mass and its radius. More...

static InertiaTpl	Identity ()

template<typename M6 >
static void	ivx_impl (const Motion &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout)

static InertiaTpl	Random ()

template<typename M6 >
static void	vxi_impl (const Motion &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout)

static InertiaTpl	Zero ()

Static Public Member Functions inherited from pinocchio::InertiaBase< InertiaTpl< _Scalar, _Options > >
static void	ivx (const Motion &v, const InertiaTpl< _Scalar, _Options > &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ . More...

static void	vxi (const Motion &v, const InertiaTpl< _Scalar, _Options > &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ . More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Symmetric3::AlphaSkewSquare	AlphaSkewSquare

Protected Attributes
Vector3	m_com

Symmetric3	m_inertia

Scalar	m_mass

Friends
class	InertiaBase< InertiaTpl< _Scalar, _Options > >

Additional Inherited Members
Protected Types inherited from pinocchio::InertiaBase< InertiaTpl< _Scalar, _Options > >
typedef InertiaTpl< _Scalar, _Options >	Derived_t

Protected Member Functions inherited from pinocchio::InertiaBase< InertiaTpl< _Scalar, _Options > >
	SPATIAL_TYPEDEF_TEMPLATE (Derived_t)

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::InertiaTpl< _Scalar, _Options >

Definition at line 52 of file src/spatial/fwd.hpp.

Member Typedef Documentation

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<_Scalar, 10, 1, _Options> pinocchio::InertiaTpl< _Scalar, _Options >::Vector10

Definition at line 162 of file src/spatial/inertia.hpp.

Member Enumeration Documentation

template<typename _Scalar, int _Options>

anonymous enum

Enumerator
Options

Definition at line 157 of file src/spatial/inertia.hpp.

Constructor & Destructor Documentation

template<typename _Scalar, int _Options>

pinocchio::InertiaTpl< _Scalar, _Options >::InertiaTpl ( )

inline

Definition at line 166 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

pinocchio::InertiaTpl< _Scalar, _Options >::InertiaTpl	(	const Scalar	mass,
		const Vector3 &	com,
		const Matrix3 &	rotational_inertia
	)

inline

Definition at line 169 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

pinocchio::InertiaTpl< _Scalar, _Options >::InertiaTpl ( const Matrix6 & I6 )

inline

Definition at line 173 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

pinocchio::InertiaTpl< _Scalar, _Options >::InertiaTpl	(	Scalar	mass,
		const Vector3 &	com,
		const Symmetric3 &	rotational_inertia
	)

inline

Definition at line 188 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

pinocchio::InertiaTpl< _Scalar, _Options >::InertiaTpl ( const InertiaTpl< _Scalar, _Options > & clone )

inline

Definition at line 192 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

template<int O2>

pinocchio::InertiaTpl< _Scalar, _Options >::InertiaTpl ( const InertiaTpl< Scalar, O2 > & clone )

inline

Definition at line 205 of file src/spatial/inertia.hpp.

Member Function Documentation

template<typename _Scalar, int _Options>

InertiaTpl& pinocchio::InertiaTpl< _Scalar, _Options >::__equl__ ( const InertiaTpl< _Scalar, _Options > & clone )

inline

Definition at line 367 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

template<typename MotionDerived >

ForceTpl<typename traits<MotionDerived>::Scalar,traits<MotionDerived>::Options> pinocchio::InertiaTpl< _Scalar, _Options >::__mult__ ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 429 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

template<typename MotionDerived , typename ForceDerived >

void pinocchio::InertiaTpl< _Scalar, _Options >::__mult__	(	const MotionDense< MotionDerived > &	v,
		ForceDense< ForceDerived > &	f
	)		const

inline

Definition at line 438 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

InertiaTpl& pinocchio::InertiaTpl< _Scalar, _Options >::__pequ__ ( const InertiaTpl< _Scalar, _Options > & Yb )

inline

Definition at line 413 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::__plus__ ( const InertiaTpl< _Scalar, _Options > & Yb ) const

inline

Definition at line 396 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

template<typename NewScalar >

InertiaTpl<NewScalar,Options> pinocchio::InertiaTpl< _Scalar, _Options >::cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 588 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

void pinocchio::InertiaTpl< _Scalar, _Options >::disp_impl ( std::ostream & os ) const

inline

Definition at line 578 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::FromBox	(	const Scalar	mass,
		const Scalar	x,
		const Scalar	y,
		const Scalar	z
	)

inlinestatic

Computes the Inertia of a box defined by its mass and main dimensions (x,y,z).

Parameters

[in]	mass	of the box.
[in]	x	dimension along the local X axis.
[in]	y	dimension along the local Y axis.
[in]	z	dimension along the local Z axis.

Definition at line 298 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::FromCylinder	(	const Scalar	mass,
		const Scalar	radius,
		const Scalar	length
	)

inlinestatic

Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis.

Parameters

[in]	mass	of the cylinder.
[in]	radius	of the cylinder.
[in]	length	of the cylinder.

Definition at line 279 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

template<typename Vector10Like >

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::FromDynamicParameters ( const Eigen::MatrixBase< Vector10Like > & params )

inlinestatic

Builds and inertia matrix from a vector of dynamic parameters.

Parameters

[in] params The dynamic parameters.

The parameters are given as $v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T$ where $ I = I_C + mS^T(c)S(c) $ and $ I_C $ has its origin at the barycenter.

Definition at line 355 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::FromEllipsoid	(	const Scalar	mass,
		const Scalar	x,
		const Scalar	y,
		const Scalar	z
	)

inlinestatic

Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z).

Parameters

[in]	mass	of the ellipsoid.
[in]	x	semi-axis dimension along the local X axis.
[in]	y	semi-axis dimension along the local Y axis.
[in]	z	semi-axis dimension along the local Z axis.

Definition at line 260 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::FromSphere	(	const Scalar	mass,
		const Scalar	radius
	)

inlinestatic

Computes the Inertia of a sphere defined by its mass and its radius.

Parameters

[in]	mass	of the sphere.
[in]	radius	of the sphere.

Definition at line 247 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::Identity ( )

inlinestatic

Definition at line 221 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

const Symmetric3& pinocchio::InertiaTpl< _Scalar, _Options >::inertia ( ) const

inline

Definition at line 545 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Symmetric3& pinocchio::InertiaTpl< _Scalar, _Options >::inertia ( )

inline

Definition at line 549 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::InertiaTpl< _Scalar, _Options >::isApprox_impl	(	const InertiaTpl< _Scalar, _Options > &	other,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Definition at line 379 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::InertiaTpl< _Scalar, _Options >::isEqual ( const InertiaTpl< _Scalar, _Options > & Y2 ) const

inline

Definition at line 374 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::InertiaTpl< _Scalar, _Options >::isZero_impl ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 388 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

template<typename M6 >

static void pinocchio::InertiaTpl< _Scalar, _Options >::ivx_impl	(	const Motion &	v,
		const InertiaTpl< _Scalar, _Options > &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Definition at line 514 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

const Vector3& pinocchio::InertiaTpl< _Scalar, _Options >::lever ( ) const

inline

Definition at line 544 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Vector3& pinocchio::InertiaTpl< _Scalar, _Options >::lever ( )

inline

Definition at line 548 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Scalar pinocchio::InertiaTpl< _Scalar, _Options >::mass ( ) const

inline

Definition at line 543 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Scalar& pinocchio::InertiaTpl< _Scalar, _Options >::mass ( )

inline

Definition at line 547 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Matrix6 pinocchio::InertiaTpl< _Scalar, _Options >::matrix_impl ( ) const

inline

Definition at line 316 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

InertiaTpl& pinocchio::InertiaTpl< _Scalar, _Options >::operator= ( const InertiaTpl< _Scalar, _Options > & clone )

inline

Definition at line 196 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::Random ( )

inlinestatic

Definition at line 233 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::se3Action_impl ( const SE3 & M ) const

inline

aI = aXb.act(bI)

Definition at line 552 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::se3ActionInverse_impl ( const SE3 & M ) const

inline

bI = aXb.actInv(aI)

Definition at line 563 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

void pinocchio::InertiaTpl< _Scalar, _Options >::setIdentity ( )

inline

Definition at line 228 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

void pinocchio::InertiaTpl< _Scalar, _Options >::setRandom ( )

inline

Definition at line 310 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

void pinocchio::InertiaTpl< _Scalar, _Options >::setZero ( )

inline

Definition at line 219 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

pinocchio::InertiaTpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE ( InertiaTpl< _Scalar, _Options > )

template<typename _Scalar, int _Options>

Vector10 pinocchio::InertiaTpl< _Scalar, _Options >::toDynamicParameters ( ) const

inline

Returns the representation of the matrix as a vector of dynamic parameters. The parameters are given as $v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T$ where $ c $ is the center of mass, $ I = I_C + mS^T(c)S(c) $ and $ I_C $ has its origin at the barycenter and $ S(c) $ is the the skew matrix representation of the cross product operator.

Definition at line 335 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Matrix6 pinocchio::InertiaTpl< _Scalar, _Options >::variation ( const Motion & v ) const

inline

Definition at line 457 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Scalar pinocchio::InertiaTpl< _Scalar, _Options >::vtiv_impl ( const Motion & v ) const

inline

Definition at line 446 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

template<typename M6 >

static void pinocchio::InertiaTpl< _Scalar, _Options >::vxi_impl	(	const Motion &	v,
		const InertiaTpl< _Scalar, _Options > &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Definition at line 479 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Force pinocchio::InertiaTpl< _Scalar, _Options >::vxiv ( const Motion & v ) const

inline

Definition at line 570 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

static InertiaTpl pinocchio::InertiaTpl< _Scalar, _Options >::Zero ( )

inlinestatic

Definition at line 212 of file src/spatial/inertia.hpp.

Friends And Related Function Documentation

template<typename _Scalar, int _Options>

friend class InertiaBase< InertiaTpl< _Scalar, _Options > >

friend

Definition at line 155 of file src/spatial/inertia.hpp.

Member Data Documentation

template<typename _Scalar, int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Symmetric3::AlphaSkewSquare pinocchio::InertiaTpl< _Scalar, _Options >::AlphaSkewSquare

Definition at line 160 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Vector3 pinocchio::InertiaTpl< _Scalar, _Options >::m_com

protected

Definition at line 606 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Symmetric3 pinocchio::InertiaTpl< _Scalar, _Options >::m_inertia

protected

Definition at line 607 of file src/spatial/inertia.hpp.

template<typename _Scalar, int _Options>

Scalar pinocchio::InertiaTpl< _Scalar, _Options >::m_mass

protected

Definition at line 605 of file src/spatial/inertia.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

template<typename _Scalar, int _Options> class pinocchio::InertiaTpl< _Scalar, _Options >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename _Scalar, int _Options>
class pinocchio::InertiaTpl< _Scalar, _Options >