#include <fwd.hpp>
Public Types | |
enum | { Options = _Options } |
typedef Symmetric3::AlphaSkewSquare | AlphaSkewSquare |
typedef Eigen::Matrix< Scalar, 10, 1, Options > | Vector10 |
Public Member Functions | |
InertiaTpl & | __equl__ (const InertiaTpl &clone) |
InertiaTpl & | __mequ__ (const InertiaTpl &Yb) |
InertiaTpl | __minus__ (const InertiaTpl &Yb) const |
template<typename MotionDerived > | |
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options > | __mult__ (const MotionDense< MotionDerived > &v) const |
template<typename MotionDerived , typename ForceDerived > | |
void | __mult__ (const MotionDense< MotionDerived > &v, ForceDense< ForceDerived > &f) const |
InertiaTpl & | __pequ__ (const InertiaTpl &Yb) |
InertiaTpl | __plus__ (const InertiaTpl &Yb) const |
template<typename NewScalar > | |
InertiaTpl< NewScalar, Options > | cast () const |
void | disp_impl (std::ostream &os) const |
Symmetric3 & | inertia () |
const Symmetric3 & | inertia () const |
InertiaTpl () | |
InertiaTpl (const InertiaTpl &clone) | |
template<typename S2 , int O2> | |
InertiaTpl (const InertiaTpl< S2, O2 > &clone) | |
InertiaTpl (const Matrix6 &I6) | |
InertiaTpl (const Scalar &mass, const Vector3 &com, const Matrix3 &rotational_inertia) | |
InertiaTpl (const Scalar &mass, const Vector3 &com, const Symmetric3 &rotational_inertia) | |
Matrix6 | inverse_impl () const |
template<typename Matrix6Like > | |
void | inverse_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const |
bool | isApprox_impl (const InertiaTpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
bool | isEqual (const InertiaTpl &Y2) const |
bool | isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
Vector3 & | lever () |
const Vector3 & | lever () const |
Scalar & | mass () |
Scalar | mass () const |
Matrix6 | matrix_impl () const |
template<typename Matrix6Like > | |
void | matrix_impl (const Eigen::MatrixBase< Matrix6Like > &M_) const |
InertiaTpl & | operator= (const InertiaTpl &clone) |
template<typename S2 , int O2> | |
InertiaTpl | se3Action_impl (const SE3Tpl< S2, O2 > &M) const |
aI = aXb.act(bI) More... | |
template<typename S2 , int O2> | |
InertiaTpl | se3ActionInverse_impl (const SE3Tpl< S2, O2 > &M) const |
bI = aXb.actInv(aI) More... | |
void | setIdentity () |
void | setRandom () |
void | setZero () |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SPATIAL_TYPEDEF_TEMPLATE (InertiaTpl) |
Vector10 | toDynamicParameters () const |
template<typename MotionDerived > | |
Matrix6 | variation (const MotionDense< MotionDerived > &v) const |
template<typename MotionDerived > | |
Scalar | vtiv_impl (const MotionDense< MotionDerived > &v) const |
template<typename MotionDerived > | |
Force | vxiv (const MotionDense< MotionDerived > &v) const |
Static Public Member Functions | |
static InertiaTpl | FromBox (const Scalar mass, const Scalar x, const Scalar y, const Scalar z) |
Computes the Inertia of a box defined by its mass and main dimensions (x,y,z). More... | |
static InertiaTpl | FromCapsule (const Scalar mass, const Scalar radius, const Scalar height) |
Computes the Inertia of a capsule defined by its mass, radius and length along the Z axis. Assumes a uniform density. More... | |
static InertiaTpl | FromCylinder (const Scalar mass, const Scalar radius, const Scalar length) |
Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis. More... | |
template<typename Vector10Like > | |
static InertiaTpl | FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > ¶ms) |
static InertiaTpl | FromEllipsoid (const Scalar mass, const Scalar x, const Scalar y, const Scalar z) |
Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z). More... | |
static InertiaTpl | FromSphere (const Scalar mass, const Scalar radius) |
Computes the Inertia of a sphere defined by its mass and its radius. More... | |
static InertiaTpl | Identity () |
template<typename MotionDerived , typename M6 > | |
static void | ivx_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout) |
static InertiaTpl | Random () |
template<typename MotionDerived , typename M6 > | |
static void | vxi_impl (const MotionDense< MotionDerived > &v, const InertiaTpl &I, const Eigen::MatrixBase< M6 > &Iout) |
static InertiaTpl | Zero () |
Protected Attributes | |
Vector3 | m_com |
Symmetric3 | m_inertia |
Scalar | m_mass |
Definition at line 58 of file spatial/fwd.hpp.
typedef Symmetric3::AlphaSkewSquare pinocchio::InertiaTpl< _Scalar, _Options >::AlphaSkewSquare |
Definition at line 272 of file spatial/inertia.hpp.
typedef Eigen::Matrix<Scalar, 10, 1, Options> pinocchio::InertiaTpl< _Scalar, _Options >::Vector10 |
Definition at line 273 of file spatial/inertia.hpp.
anonymous enum |
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Options |
Definition at line 267 of file spatial/inertia.hpp.
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Definition at line 276 of file spatial/inertia.hpp.
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Definition at line 280 of file spatial/inertia.hpp.
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Definition at line 287 of file spatial/inertia.hpp.
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Definition at line 303 of file spatial/inertia.hpp.
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Definition at line 310 of file spatial/inertia.hpp.
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Definition at line 326 of file spatial/inertia.hpp.
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Definition at line 569 of file spatial/inertia.hpp.
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Definition at line 654 of file spatial/inertia.hpp.
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Definition at line 632 of file spatial/inertia.hpp.
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Definition at line 676 of file spatial/inertia.hpp.
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Definition at line 686 of file spatial/inertia.hpp.
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Definition at line 616 of file spatial/inertia.hpp.
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Definition at line 598 of file spatial/inertia.hpp.
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Definition at line 869 of file spatial/inertia.hpp.
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Definition at line 859 of file spatial/inertia.hpp.
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Computes the Inertia of a box defined by its mass and main dimensions (x,y,z).
[in] | mass | of the box. |
[in] | x | dimension along the local X axis. |
[in] | y | dimension along the local Y axis. |
[in] | z | dimension along the local Z axis. |
Definition at line 418 of file spatial/inertia.hpp.
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Computes the Inertia of a capsule defined by its mass, radius and length along the Z axis. Assumes a uniform density.
[in] | mass | of the capsule. |
[in] | radius | of the capsule. |
[in] | height | of the capsule. |
Definition at line 434 of file spatial/inertia.hpp.
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Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis.
[in] | mass | of the cylinder. |
[in] | radius | of the cylinder. |
[in] | length | of the cylinder. |
Definition at line 401 of file spatial/inertia.hpp.
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Builds and inertia matrix from a vector of dynamic parameters.
[in] | params | The dynamic parameters. |
The parameters are given as where
and
has its origin at the barycenter.
Definition at line 556 of file spatial/inertia.hpp.
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Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z).
[in] | mass | of the ellipsoid. |
[in] | x | semi-axis dimension along the local X axis. |
[in] | y | semi-axis dimension along the local Y axis. |
[in] | z | semi-axis dimension along the local Z axis. |
Definition at line 384 of file spatial/inertia.hpp.
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Computes the Inertia of a sphere defined by its mass and its radius.
[in] | mass | of the sphere. |
[in] | radius | of the sphere. |
Definition at line 369 of file spatial/inertia.hpp.
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Definition at line 344 of file spatial/inertia.hpp.
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Definition at line 823 of file spatial/inertia.hpp.
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Definition at line 810 of file spatial/inertia.hpp.
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Definition at line 522 of file spatial/inertia.hpp.
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Definition at line 495 of file spatial/inertia.hpp.
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Definition at line 583 of file spatial/inertia.hpp.
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Definition at line 578 of file spatial/inertia.hpp.
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Definition at line 592 of file spatial/inertia.hpp.
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Definition at line 770 of file spatial/inertia.hpp.
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Definition at line 819 of file spatial/inertia.hpp.
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Definition at line 806 of file spatial/inertia.hpp.
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Definition at line 815 of file spatial/inertia.hpp.
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Definition at line 802 of file spatial/inertia.hpp.
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Definition at line 487 of file spatial/inertia.hpp.
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Definition at line 475 of file spatial/inertia.hpp.
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Definition at line 317 of file spatial/inertia.hpp.
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Definition at line 356 of file spatial/inertia.hpp.
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aI = aXb.act(bI)
Definition at line 830 of file spatial/inertia.hpp.
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bI = aXb.actInv(aI)
Definition at line 841 of file spatial/inertia.hpp.
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Definition at line 349 of file spatial/inertia.hpp.
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Definition at line 467 of file spatial/inertia.hpp.
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Definition at line 337 of file spatial/inertia.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW pinocchio::InertiaTpl< _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE | ( | InertiaTpl< _Scalar, _Options > | ) |
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Returns the representation of the matrix as a vector of dynamic parameters. The parameters are given as where
is the center of mass,
and
has its origin at the barycenter and
is the the skew matrix representation of the cross product operator.
Definition at line 536 of file spatial/inertia.hpp.
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Definition at line 707 of file spatial/inertia.hpp.
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Definition at line 695 of file spatial/inertia.hpp.
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Definition at line 736 of file spatial/inertia.hpp.
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Definition at line 849 of file spatial/inertia.hpp.
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Definition at line 332 of file spatial/inertia.hpp.
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Definition at line 887 of file spatial/inertia.hpp.
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Definition at line 888 of file spatial/inertia.hpp.
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Definition at line 886 of file spatial/inertia.hpp.