Public Member Functions | List of all members
RobotDynamics::Math::ForceVector Class Reference

A ForceVector is a SpatialVector containing 3 moments and 3 linear forces. More...

#include <ForceVector.hpp>

Inheritance diagram for RobotDynamics::Math::ForceVector:
Inheritance graph
[legend]

Public Member Functions

template<typename OtherDerived >
 ForceVector (const Eigen::MatrixBase< OtherDerived > &other)
 Constructor. More...
 
EIGEN_STRONG_INLINE ForceVector ()
 Empty constructor. More...
 
 ForceVector (const double mx, const double my, const double mz, const double fx, const double fy, const double fz)
 Constructor. More...
 
EIGEN_STRONG_INLINE double & fx ()
 Get reference to x-linear component. More...
 
EIGEN_STRONG_INLINE double fx () const
 Get copy of x-linear component. More...
 
EIGEN_STRONG_INLINE double & fy ()
 Get reference to y-linear component. More...
 
EIGEN_STRONG_INLINE double fy () const
 Get copy of y-linear component. More...
 
EIGEN_STRONG_INLINE double & fz ()
 Get reference to z-linear component. More...
 
EIGEN_STRONG_INLINE double fz () const
 Get copy of z-linear component. More...
 
EIGEN_STRONG_INLINE double & mx ()
 Get reference to x-angular component. More...
 
EIGEN_STRONG_INLINE double mx () const
 Get copy of x-angular component. More...
 
EIGEN_STRONG_INLINE double & my ()
 Get reference to y-angular component. More...
 
EIGEN_STRONG_INLINE double my () const
 Get copy of y-angular component. More...
 
EIGEN_STRONG_INLINE double & mz ()
 Get reference to z-angular component. More...
 
EIGEN_STRONG_INLINE double mz () const
 Get copy of z-angular component. More...
 
ForceVector operator+= (const ForceVector &v)
 Overloaded plus-equals operator. More...
 
template<typename OtherDerived >
ForceVector & operator= (const Eigen::MatrixBase< OtherDerived > &other)
 
EIGEN_STRONG_INLINE void set (const ForceVector &f)
 Setter. More...
 
EIGEN_STRONG_INLINE SpatialVector toSpatialVector () const
 Get a copy of a ForceVector as type SpatialVector. More...
 
void transform (const SpatialTransform &X)
 Performs the following in place transform

\[ f = \begin{bmatrix} X.E & -X.E(X.r\times) \\ \mathbf{0} & X.E \end{bmatrix} f \]

. More...

 
ForceVector transform_copy (const SpatialTransform &X) const
 Copy then transform a ForceVector by

\[ f_2 = \begin{bmatrix} X.E & -X.E(X.r\times) \\ \mathbf{0} & X.E \end{bmatrix} f_1 \]

. More...

 
- Public Member Functions inherited from RobotDynamics::Math::SpatialVector
EIGEN_STRONG_INLINE Vector3d getAngularPart () const
 
EIGEN_STRONG_INLINE Vector3d getLinearPart () const
 
template<typename OtherDerived >
SpatialVector & operator= (const Eigen::MatrixBase< OtherDerived > &other)
 
EIGEN_STRONG_INLINE void set (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)
 
EIGEN_STRONG_INLINE void set (const Vector3d &angularPart, const Vector3d &linearPart)
 
void setAngularPart (const Vector3d &v)
 
void setLinearPart (const Vector3d &v)
 
template<typename OtherDerived >
 SpatialVector (const Eigen::MatrixBase< OtherDerived > &other)
 
EIGEN_STRONG_INLINE SpatialVector ()
 
EIGEN_STRONG_INLINE SpatialVector (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)
 

Additional Inherited Members

- Public Types inherited from RobotDynamics::Math::SpatialVector
typedef Eigen::Matrix< double, 6, 1 > Base
 

Detailed Description

A ForceVector is a SpatialVector containing 3 moments and 3 linear forces.

Definition at line 27 of file ForceVector.hpp.

Constructor & Destructor Documentation

template<typename OtherDerived >
RobotDynamics::Math::ForceVector::ForceVector ( const Eigen::MatrixBase< OtherDerived > &  other)
inline

Constructor.

Parameters
other

Definition at line 36 of file ForceVector.hpp.

EIGEN_STRONG_INLINE RobotDynamics::Math::ForceVector::ForceVector ( )
inline

Empty constructor.

Definition at line 55 of file ForceVector.hpp.

RobotDynamics::Math::ForceVector::ForceVector ( const double  mx,
const double  my,
const double  mz,
const double  fx,
const double  fy,
const double  fz 
)
inline

Constructor.

Parameters
mxx-Moment
myy-Moment
mzz-Moment
fxx-Linear Force
fyy-Linear Force
fzz-Linear Force

Definition at line 76 of file ForceVector.hpp.

Member Function Documentation

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::fx ( )
inline

Get reference to x-linear component.

Returns
Reference to x-linear component

Definition at line 150 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::fx ( ) const
inline

Get copy of x-linear component.

Returns
Copy of x-linear component

Definition at line 177 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::fy ( )
inline

Get reference to y-linear component.

Returns
Reference to y-linear component

Definition at line 159 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::fy ( ) const
inline

Get copy of y-linear component.

Returns
Copy of y-linear component

Definition at line 186 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::fz ( )
inline

Get reference to z-linear component.

Returns
Reference to z-linear component

Definition at line 168 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::fz ( ) const
inline

Get copy of z-linear component.

Returns
Copy of z-linear component

Definition at line 195 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::mx ( )
inline

Get reference to x-angular component.

Returns
Reference to x-angular component

Definition at line 96 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::mx ( ) const
inline

Get copy of x-angular component.

Returns
Copy of x-angular component

Definition at line 123 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::my ( )
inline

Get reference to y-angular component.

Returns
Reference to y-angular component

Definition at line 105 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::my ( ) const
inline

Get copy of y-angular component.

Returns
Copy of y-angular component

Definition at line 132 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::mz ( )
inline

Get reference to z-angular component.

Returns
Reference to z-angular component

Definition at line 114 of file ForceVector.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::mz ( ) const
inline

Get copy of z-angular component.

Returns
Copy of z-angular component

Definition at line 141 of file ForceVector.hpp.

ForceVector RobotDynamics::Math::ForceVector::operator+= ( const ForceVector &  v)
inline

Overloaded plus-equals operator.

Returns
$ f_2=f_2+f_1 $

Definition at line 243 of file ForceVector.hpp.

template<typename OtherDerived >
ForceVector& RobotDynamics::Math::ForceVector::operator= ( const Eigen::MatrixBase< OtherDerived > &  other)
inline

Overloaded equal operator

Parameters
other
Returns
Copied ForceVector

Definition at line 46 of file ForceVector.hpp.

EIGEN_STRONG_INLINE void RobotDynamics::Math::ForceVector::set ( const ForceVector &  f)
inline

Setter.

Parameters
f

Definition at line 87 of file ForceVector.hpp.

EIGEN_STRONG_INLINE SpatialVector RobotDynamics::Math::ForceVector::toSpatialVector ( ) const
inline

Get a copy of a ForceVector as type SpatialVector.

Definition at line 62 of file ForceVector.hpp.

void RobotDynamics::Math::ForceVector::transform ( const SpatialTransform &  X)
inlinevirtual

Performs the following in place transform

\[ f = \begin{bmatrix} X.E & -X.E(X.r\times) \\ \mathbf{0} & X.E \end{bmatrix} f \]

.

Parameters
X

Implements RobotDynamics::Math::TransformableGeometricObject.

Definition at line 211 of file ForceVector.hpp.

ForceVector RobotDynamics::Math::ForceVector::transform_copy ( const SpatialTransform &  X) const
inline

Copy then transform a ForceVector by

\[ f_2 = \begin{bmatrix} X.E & -X.E(X.r\times) \\ \mathbf{0} & X.E \end{bmatrix} f_1 \]

.

Parameters
X
Returns
Copied, transformed ForceVector

Definition at line 232 of file ForceVector.hpp.

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

rdl_dynamics
Author(s):
autogenerated on Tue Apr 20 2021 02:25:28