A SpatialForce is a spatial vector with the angular part being three moments and the linear part being 3 linear forces. More...

#include <SpatialForce.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialForce:

[legend]

Public Member Functions
SpatialForce	changeFrameAndCopy (ReferenceFramePtr referenceFrame) const
	Copy and change frame. More...

FrameVector	getFramedAngularPart () const
	Get angular part of spatial force as a frame vector. More...

FrameVector	getFramedLinearPart () const
	Get linear part of spatial force as a frame vector. More...

Math::TransformableGeometricObject *	getTransformableGeometricObject ()
	Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method. More...

SpatialForce	operator*= (double scale)
	Operator for scaling a spatial force vector. More...

SpatialForce	operator+= (const SpatialForce &f)
	Overloaded += operator. Frame checks are performed. More...

SpatialForce	operator-= (const SpatialForce &f)
	Overloaded -= operator. Frame checks are performed. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const SpatialVector &v)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, double wx, double wy, double wz, double vx, double vy, double vz)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const Vector3d &m, const Vector3d &f)

	SpatialForce ()
	Constructor. RobotDynamics::FrameObject::referenceFrame is initialized to nullptr. More...

	SpatialForce (ReferenceFramePtr referenceFrame)
	Constructor. Force vector elements will be zero. More...

	SpatialForce (ReferenceFramePtr referenceFrame, const double mx, const double my, const double mz, const double fx, const double fy, const double fz)
	Constructor. More...

	SpatialForce (ReferenceFramePtr referenceFrame, const Vector3d &m, const Vector3d f)
	Constructor. More...

	SpatialForce (const SpatialForce &spatialForce)
	Copy constructor. More...

	SpatialForce (ReferenceFramePtr referenceFrame, const SpatialVector &spatialVector)
	Constructor. More...

ForceVector	toForceVector () const
	Get copy of this SpatialForce as type ForceVector. 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)

Public Member Functions inherited from RobotDynamics::FrameObject
virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...

void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two ReferenceFrameHolders hold the same ReferenceFrame. More...

void	checkReferenceFramesMatch (FrameObject *frameObject) const

	FrameObject (ReferenceFramePtr referenceFrame)

ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...

void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...

virtual	~FrameObject ()
	Destructor. More...

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

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

A SpatialForce is a spatial vector with the angular part being three moments and the linear part being 3 linear forces.

Definition at line 32 of file SpatialForce.hpp.

Constructor & Destructor Documentation

RobotDynamics::Math::SpatialForce::SpatialForce ( )

inline

Constructor. RobotDynamics::FrameObject::referenceFrame is initialized to nullptr.

Definition at line 38 of file SpatialForce.hpp.

RobotDynamics::Math::SpatialForce::SpatialForce ( ReferenceFramePtr referenceFrame )

inlineexplicit

Constructor. Force vector elements will be zero.

Parameters

referenceFrame Frame spatial force will be expressed in

Definition at line 46 of file SpatialForce.hpp.

RobotDynamics::Math::SpatialForce::SpatialForce	(	ReferenceFramePtr	referenceFrame,
		const double	mx,
		const double	my,
		const double	mz,
		const double	fx,
		const double	fy,
		const double	fz
	)

inline

Constructor.

Parameters

referenceFrame	ReferenceFrame this force vector is expressed in
mx	x-Momentum
my	y-Momentum
mz	z-Momentum
fx	x-Force
fy	y-Force
fz	z-Force

Definition at line 60 of file SpatialForce.hpp.

RobotDynamics::Math::SpatialForce::SpatialForce	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	m,
		const Vector3d	f
	)

inline

Constructor.

Parameters

referenceFrame	ReferenceFrame this force vector is expressed in
m	Vector containing the angular component
f	Vector containing the linear component

Definition at line 71 of file SpatialForce.hpp.

RobotDynamics::Math::SpatialForce::SpatialForce ( const SpatialForce & spatialForce )

inline

Copy constructor.

Parameters

spatialForce

Definition at line 115 of file SpatialForce.hpp.

RobotDynamics::Math::SpatialForce::SpatialForce	(	ReferenceFramePtr	referenceFrame,
		const SpatialVector &	spatialVector
	)

inline

Constructor.

Parameters

referenceFrame	ReferenceFrame this force vector is expressed in
spatialVector

Definition at line 124 of file SpatialForce.hpp.

Member Function Documentation

SpatialForce RobotDynamics::Math::SpatialForce::changeFrameAndCopy ( ReferenceFramePtr referenceFrame ) const

inline

Copy and change frame.

Parameters

referenceFrame

Returns: Copied spatial transform with frame changed

Definition at line 86 of file SpatialForce.hpp.

FrameVector RobotDynamics::Math::SpatialForce::getFramedAngularPart ( ) const

inline

Get angular part of spatial force as a frame vector.

Returns: FrameVector consisting of the reference frame and the angular portion

Definition at line 106 of file SpatialForce.hpp.

FrameVector RobotDynamics::Math::SpatialForce::getFramedLinearPart ( ) const

inline

Get linear part of spatial force as a frame vector.

Returns: FrameVector consisting of the reference frame and the linear portion

Definition at line 97 of file SpatialForce.hpp.

Math::TransformableGeometricObject* RobotDynamics::Math::SpatialForce::getTransformableGeometricObject ( )

inlinevirtual

Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method.

Returns

Implements RobotDynamics::FrameObject.

Definition at line 76 of file SpatialForce.hpp.

SpatialForce RobotDynamics::Math::SpatialForce::operator*= ( double scale )

inline

Operator for scaling a spatial force vector.

Parameters

scale Each force element will be multiplied by this scale

Returns

Definition at line 160 of file SpatialForce.hpp.

SpatialForce RobotDynamics::Math::SpatialForce::operator+= ( const SpatialForce & f )

inline

Overloaded += operator. Frame checks are performed.

Parameters

f

Returns

Definition at line 178 of file SpatialForce.hpp.

SpatialForce RobotDynamics::Math::SpatialForce::operator-= ( const SpatialForce & f )

inline

Overloaded -= operator. Frame checks are performed.

Parameters

f

Returns

Definition at line 198 of file SpatialForce.hpp.

void RobotDynamics::Math::SpatialForce::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const SpatialVector &	v
	)

inline

Definition at line 137 of file SpatialForce.hpp.

void RobotDynamics::Math::SpatialForce::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		double	wx,
		double	wy,
		double	wz,
		double	vx,
		double	vy,
		double	vz
	)

inline

Definition at line 143 of file SpatialForce.hpp.

void RobotDynamics::Math::SpatialForce::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	m,
		const Vector3d &	f
	)

inline

Definition at line 149 of file SpatialForce.hpp.

ForceVector RobotDynamics::Math::SpatialForce::toForceVector ( ) const

inline

Get copy of this SpatialForce as type ForceVector.

Returns: A SpatialForce as type ForceVector

Definition at line 132 of file SpatialForce.hpp.

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

SpatialForce.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation