A SpatialMomentum is a Momentum expressed in a RobotDynamics::ReferenceFrame. The angular portion of the vector is referred to as $k$ and the linear portion as $l$ . More...

#include <SpatialMomentum.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialMomentum:

[legend]

Public Member Functions
double	operator* (const SpatialMotion &vector)
	Operator that returns the kinetic energy. Given a momentum, and motion vector , the resulting kinetic energy is computed by $E_k = 0.5 m \cdot v$ . Frame checks will be performed. More...

void	set (const SpatialInertia &inertia, const SpatialMotion &vector)
	Set a momentums value by computing a momentum from the supplied SpatialInertia and SpatialMotion. Frame checks will be performed. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const RigidBodyInertia &inertia, const MotionVector &vector)
	Set a momentum by multiplying the supplied motion vector by the supplied inertia. Set the stored RobotDynamics::FrameObject::referenceFrame to the supplied ReferenceFrame pointer. No frame checks will be performed. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const ForceVector &f)
	Constructor. More...

	SpatialMomentum ()
	Constructor. RobotDynamics::ReferenceFrame is initialized to nullptr. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame, const double kx, const double ky, const double kz, const double lx, const double ly, const double lz)
	Costructor. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame, const Vector3d &k, const Vector3d l)
	Constructor. More...

	SpatialMomentum (const SpatialMomentum &SpatialMomentum)
	Copy constructor. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame, const ForceVector &forceVector)
	Constructor. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame)
	Constructor. More...

	SpatialMomentum (const SpatialInertia &inertia, const SpatialMotion &vector)
	Constructor. Momentum is computed from SpatialInertia and SpatialMotion by . Frame checks are performed. More...

Public Member Functions inherited from RobotDynamics::Math::Momentum
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)

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...

Protected Member Functions
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...

Protected Member Functions inherited from RobotDynamics::Math::Momentum
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

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

A SpatialMomentum is a Momentum expressed in a RobotDynamics::ReferenceFrame. The angular portion of the vector is referred to as $k$ and the linear portion as $l$ .

Definition at line 32 of file SpatialMomentum.hpp.

Constructor & Destructor Documentation

RobotDynamics::Math::SpatialMomentum::SpatialMomentum ( )

inline

Constructor. RobotDynamics::ReferenceFrame is initialized to nullptr.

Definition at line 38 of file SpatialMomentum.hpp.

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	ReferenceFramePtr	referenceFrame,
		const double	kx,
		const double	ky,
		const double	kz,
		const double	lx,
		const double	ly,
		const double	lz
	)

inline

Costructor.

Parameters

referenceFrame	RobotDynamics::ReferenceFrame the momentum is expressed in
kx	x-Angular
ky	y-Angular
kz	z-Angular
lx	x-Linear
ly	y-Linear
lz	z-Linear

Definition at line 52 of file SpatialMomentum.hpp.

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	k,
		const Vector3d	l
	)

inline

Constructor.

Parameters

referenceFrame	RobotDynamics::ReferenceFrame the momentum is expressed in
k	Angular part
l	Linear part

Definition at line 63 of file SpatialMomentum.hpp.

RobotDynamics::Math::SpatialMomentum::SpatialMomentum ( const SpatialMomentum & SpatialMomentum )

inline

Copy constructor.

Parameters

SpatialMomentum

Definition at line 72 of file SpatialMomentum.hpp.

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	ReferenceFramePtr	referenceFrame,
		const ForceVector &	forceVector
	)

inline

Constructor.

Parameters

referenceFrame	RobotDynamics::ReferenceFrame the momentum is expressed in
forceVector

Definition at line 81 of file SpatialMomentum.hpp.

RobotDynamics::Math::SpatialMomentum::SpatialMomentum ( ReferenceFramePtr referenceFrame )

inlineexplicit

Constructor.

Parameters

referenceFrame RobotDynamics::ReferenceFrame the momentum is expressed in

Definition at line 89 of file SpatialMomentum.hpp.

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	const SpatialInertia &	inertia,
		const SpatialMotion &	vector
	)

inline

Constructor. Momentum is computed from SpatialInertia and SpatialMotion by $ p=I*m $ . Frame checks are performed.

Parameters

inertia
vector

Definition at line 99 of file SpatialMomentum.hpp.

Member Function Documentation

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

inlineprotectedvirtual

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 154 of file SpatialMomentum.hpp.

double RobotDynamics::Math::SpatialMomentum::operator* ( const SpatialMotion & vector )

inline

Operator that returns the kinetic energy. Given a momentum, $m$ and motion vector $v$ , the resulting kinetic energy is computed by $E_k = 0.5 m \cdot v$ . Frame checks will be performed.

Returns: double The kinetic energy

Definition at line 147 of file SpatialMomentum.hpp.

void RobotDynamics::Math::SpatialMomentum::set	(	const SpatialInertia &	inertia,
		const SpatialMotion &	vector
	)

inline

Set a momentums value by computing a momentum from the supplied SpatialInertia and SpatialMotion. Frame checks will be performed.

Parameters

inertia
vector

Definition at line 110 of file SpatialMomentum.hpp.

void RobotDynamics::Math::SpatialMomentum::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const RigidBodyInertia &	inertia,
		const MotionVector &	vector
	)

inline

Set a momentum by multiplying the supplied motion vector by the supplied inertia. Set the stored RobotDynamics::FrameObject::referenceFrame to the supplied ReferenceFrame pointer. No frame checks will be performed.

Parameters

referenceFrame
inertia
vector

Definition at line 125 of file SpatialMomentum.hpp.

void RobotDynamics::Math::SpatialMomentum::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const ForceVector &	f
	)

inline

Constructor.

Parameters

referenceFrame
f

Definition at line 136 of file SpatialMomentum.hpp.

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

SpatialMomentum.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation