Group motion actions. More...

Functions
template<int Op, typename ForceDerived , typename Mat , typename MatRet >
static void	act (const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF)
	Action of a motion set on a force object. The input motion set is represented by a 6xN matrix whose each column represent a spatial motion. The output force set is represented by a 6xN matrix whose each column represent a spatial force. More...

template<typename ForceDerived , typename Mat , typename MatRet >
static void	act (const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF)
	Default implementation with assignment operator=. More...

template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >
static void	inertiaAction (const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Action of an Inertia matrix on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion. More...

template<typename Scalar , int Options, typename Mat , typename MatRet >
static void	inertiaAction (const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Default implementation with assignment operator=. More...

template<int Op, typename MotionDerived , typename Mat , typename MatRet >
static void	motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Action of a motion on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion. More...

template<typename MotionDerived , typename Mat , typename MatRet >
static void	motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Default implementation with assignment operator=. More...

template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
	SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion. More...

template<typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
	Default implementation with assignment operator=. More...

template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
	Inverse SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion. More...

template<typename Scalar , int Options, typename Mat , typename MatRet >
static void	se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV)
	Default implementation with assignment operator=. More...

Detailed Description

Group motion actions.

Function Documentation

template<int Op, typename ForceDerived , typename Mat , typename MatRet >

static void pinocchio::motionSet::act	(	const Eigen::MatrixBase< Mat > &	iV,
		const ForceDense< ForceDerived > &	f,
		Eigen::MatrixBase< MatRet > const &	jF
	)

static

Action of a motion set on a force object. The input motion set is represented by a 6xN matrix whose each column represent a spatial motion. The output force set is represented by a 6xN matrix whose each column represent a spatial force.

template<typename ForceDerived , typename Mat , typename MatRet >

static void pinocchio::motionSet::act	(	const Eigen::MatrixBase< Mat > &	iV,
		const ForceDense< ForceDerived > &	f,
		Eigen::MatrixBase< MatRet > const &	jF
	)

static

Default implementation with assignment operator=.

template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >

static void pinocchio::motionSet::inertiaAction	(	const InertiaTpl< Scalar, Options > &	I,
		const Eigen::MatrixBase< Mat > &	iF,
		Eigen::MatrixBase< MatRet > const &	jF
	)

static

Action of an Inertia matrix on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion.

template<typename Scalar , int Options, typename Mat , typename MatRet >

static void pinocchio::motionSet::inertiaAction	(	const InertiaTpl< Scalar, Options > &	I,
		const Eigen::MatrixBase< Mat > &	iF,
		Eigen::MatrixBase< MatRet > const &	jF
	)

static

Default implementation with assignment operator=.

template<int Op, typename MotionDerived , typename Mat , typename MatRet >

static void pinocchio::motionSet::motionAction	(	const MotionDense< MotionDerived > &	v,
		const Eigen::MatrixBase< Mat > &	iF,
		Eigen::MatrixBase< MatRet > const &	jF
	)

static

Action of a motion on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion.

template<typename MotionDerived , typename Mat , typename MatRet >

static void pinocchio::motionSet::motionAction	(	const MotionDense< MotionDerived > &	v,
		const Eigen::MatrixBase< Mat > &	iF,
		Eigen::MatrixBase< MatRet > const &	jF
	)

static

Default implementation with assignment operator=.

template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >

static void pinocchio::motionSet::se3Action	(	const SE3Tpl< Scalar, Options > &	m,
		const Eigen::MatrixBase< Mat > &	iV,
		Eigen::MatrixBase< MatRet > const &	jV
	)

static

SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion.

template<typename Scalar , int Options, typename Mat , typename MatRet >

static void pinocchio::motionSet::se3Action	(	const SE3Tpl< Scalar, Options > &	m,
		const Eigen::MatrixBase< Mat > &	iV,
		Eigen::MatrixBase< MatRet > const &	jV
	)

static

Default implementation with assignment operator=.

template<int Op, typename Scalar , int Options, typename Mat , typename MatRet >

static void pinocchio::motionSet::se3ActionInverse	(	const SE3Tpl< Scalar, Options > &	m,
		const Eigen::MatrixBase< Mat > &	iV,
		Eigen::MatrixBase< MatRet > const &	jV
	)

static

Inverse SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion.

template<typename Scalar , int Options, typename Mat , typename MatRet >

static void pinocchio::motionSet::se3ActionInverse	(	const SE3Tpl< Scalar, Options > &	m,
		const Eigen::MatrixBase< Mat > &	iV,
		Eigen::MatrixBase< MatRet > const &	jV
	)

static

Default implementation with assignment operator=.

Functions

Detailed Description

Function Documentation