Momentum is mass/inertia multiplied by velocity. More...

#include <Momentum.hpp>

Inheritance diagram for RobotDynamics::Math::Momentum:

[legend]

Public Member Functions
EIGEN_STRONG_INLINE double &	kx ()

EIGEN_STRONG_INLINE double	kx () const

EIGEN_STRONG_INLINE double &	ky ()

EIGEN_STRONG_INLINE double	ky () const

EIGEN_STRONG_INLINE double &	kz ()

EIGEN_STRONG_INLINE double	kz () const

EIGEN_STRONG_INLINE double &	lx ()

EIGEN_STRONG_INLINE double	lx () const

EIGEN_STRONG_INLINE double &	ly ()

EIGEN_STRONG_INLINE double	ly () const

EIGEN_STRONG_INLINE double &	lz ()

EIGEN_STRONG_INLINE double	lz () const

	Momentum ()

	Momentum (const double kx, const double ky, const double kz, const double lx, const double ly, const double lz)

	Momentum (const Vector3d &k, const Vector3d l)

	Momentum (const Momentum &momentum)

	Momentum (const ForceVector &forceVector)

	Momentum (const RigidBodyInertia &inertia, const MotionVector &vector)

EIGEN_STRONG_INLINE double	operator* (const MotionVector &vector)
	Operator for computing kinetic energy. With momentum, and Math::MotionVector, this performs performs $\frac{m\cdot v}{2}$ . More...

Momentum	operator+= (const Momentum &v)
	Overloaded plus-equals operator. More...

Momentum	operator-= (const Momentum &v)
	Overloaded plus-equals operator. More...

void	set (const RigidBodyInertia &inertia, const MotionVector &vector)
	Set momentum by computing it from the inertia and velocity. More...

Momentum	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::ForceVector
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)

Protected Member Functions
void	computeMomentum (const RigidBodyInertia &I, const MotionVector &v)
	Computes momentum from inertia and velocity. More...

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

Detailed Description

Momentum is mass/inertia multiplied by velocity.

Definition at line 27 of file Momentum.hpp.

Constructor & Destructor Documentation

RobotDynamics::Math::Momentum::Momentum ( )

inline

Definition at line 30 of file Momentum.hpp.

RobotDynamics::Math::Momentum::Momentum	(	const double	kx,
		const double	ky,
		const double	kz,
		const double	lx,
		const double	ly,
		const double	lz
	)

inline

Definition at line 34 of file Momentum.hpp.

RobotDynamics::Math::Momentum::Momentum	(	const Vector3d &	k,
		const Vector3d	l
	)

inline

Definition at line 38 of file Momentum.hpp.

RobotDynamics::Math::Momentum::Momentum ( const Momentum & momentum )

inline

Definition at line 42 of file Momentum.hpp.

RobotDynamics::Math::Momentum::Momentum ( const ForceVector & forceVector )

inlineexplicit

Definition at line 46 of file Momentum.hpp.

RobotDynamics::Math::Momentum::Momentum	(	const RigidBodyInertia &	inertia,
		const MotionVector &	vector
	)

inline

Definition at line 50 of file Momentum.hpp.

Member Function Documentation

void RobotDynamics::Math::Momentum::computeMomentum	(	const RigidBodyInertia &	I,
		const MotionVector &	v
	)

inlineprotected

Computes momentum from inertia and velocity.

Parameters

I
v

Definition at line 181 of file Momentum.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::kx ( )

inline

Definition at line 84 of file Momentum.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::kx ( ) const

inline

Definition at line 99 of file Momentum.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::ky ( )

inline

Definition at line 89 of file Momentum.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::ky ( ) const

inline

Definition at line 104 of file Momentum.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::kz ( )

inline

Definition at line 94 of file Momentum.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::kz ( ) const

inline

Definition at line 109 of file Momentum.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::lx ( )

inline

Definition at line 114 of file Momentum.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::lx ( ) const

inline

Definition at line 129 of file Momentum.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::ly ( )

inline

Definition at line 119 of file Momentum.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::ly ( ) const

inline

Definition at line 134 of file Momentum.hpp.

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::lz ( )

inline

Definition at line 124 of file Momentum.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::lz ( ) const

inline

Definition at line 139 of file Momentum.hpp.

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::operator* ( const MotionVector & vector )

inline

Operator for computing kinetic energy. With momentum, $ m $ and Math::MotionVector, $ v $ this performs performs $\frac{m\cdot v}{2}$ .

Parameters

vector

Returns: kinetic energy

Definition at line 170 of file Momentum.hpp.

Momentum RobotDynamics::Math::Momentum::operator+= ( const Momentum & v )

inline

Overloaded plus-equals operator.

Returns

Definition at line 148 of file Momentum.hpp.

Momentum RobotDynamics::Math::Momentum::operator-= ( const Momentum & v )

inline

Overloaded plus-equals operator.

Returns

Definition at line 158 of file Momentum.hpp.

void RobotDynamics::Math::Momentum::set	(	const RigidBodyInertia &	inertia,
		const MotionVector &	vector
	)

inline

Set momentum by computing it from the inertia and velocity.

Parameters

inertia
vector

Definition at line 79 of file Momentum.hpp.

Momentum RobotDynamics::Math::Momentum::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 67 of file Momentum.hpp.

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

Momentum.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation