#include <inertia.hpp>

Public Member Functions
Derived_t &	derived ()

const Derived_t &	derived () const

void	disp (std::ostream &os) const

const Symmetric3 &	inertia () const

Symmetric3 &	inertia ()

bool	isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

Matrix6	ivx (const Motion &v) const

const Vector3 &	lever () const

Vector3 &	lever ()

Scalar	mass () const

Scalar &	mass ()

Matrix6	matrix () const

	operator Matrix6 () const

bool	operator!= (const Derived_t &other) const

template<typename MotionDerived >
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options >	operator* (const MotionDense< MotionDerived > &v) const

Derived_t	operator+ (const Derived_t &Yb) const

Derived_t &	operator+= (const Derived_t &Yb)

Derived_t &	operator= (const Derived_t &clone)

bool	operator== (const Derived_t &other) const

Derived_t	se3Action (const SE3 &M) const
	aI = aXb.act(bI) More...

Derived_t	se3ActionInverse (const SE3 &M) const
	bI = aXb.actInv(aI) More...

void	setIdentity ()

void	setRandom ()

void	setZero ()

Matrix6	variation (const Motion &v) const

Scalar	vtiv (const Motion &v) const

Matrix6	vxi (const Motion &v) const

Static Public Member Functions
template<typename M6 >
static void	ivx (const Motion &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ . More...

template<typename M6 >
static void	vxi (const Motion &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ . More...

Protected Types
typedef Derived	Derived_t

Protected Member Functions
	SPATIAL_TYPEDEF_TEMPLATE (Derived_t)

Friends
std::ostream &	operator<< (std::ostream &os, const InertiaBase< Derived_t > &X)

Detailed Description

template<class Derived>
class pinocchio::InertiaBase< Derived >

Definition at line 21 of file src/spatial/inertia.hpp.

Member Typedef Documentation

◆ Derived_t

template<class Derived>

typedef Derived pinocchio::InertiaBase< Derived >::Derived_t

protected

Definition at line 25 of file src/spatial/inertia.hpp.

Member Function Documentation

◆ derived() [1/2]

template<class Derived>

Derived_t& pinocchio::InertiaBase< Derived >::derived ( )

inline

Definition at line 29 of file src/spatial/inertia.hpp.

◆ derived() [2/2]

template<class Derived>

const Derived_t& pinocchio::InertiaBase< Derived >::derived ( ) const

inline

Definition at line 30 of file src/spatial/inertia.hpp.

◆ disp()

template<class Derived>

void pinocchio::InertiaBase< Derived >::disp ( std::ostream & os ) const

inline

Definition at line 115 of file src/spatial/inertia.hpp.

◆ inertia() [1/2]

template<class Derived>

const Symmetric3& pinocchio::InertiaBase< Derived >::inertia ( ) const

inline

Definition at line 36 of file src/spatial/inertia.hpp.

◆ inertia() [2/2]

template<class Derived>

Symmetric3& pinocchio::InertiaBase< Derived >::inertia ( )

inline

Definition at line 37 of file src/spatial/inertia.hpp.

◆ isApprox()

template<class Derived>

bool pinocchio::InertiaBase< Derived >::isApprox	(	const Derived &	other,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Definition at line 103 of file src/spatial/inertia.hpp.

◆ isZero()

template<class Derived>

bool pinocchio::InertiaBase< Derived >::isZero ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 106 of file src/spatial/inertia.hpp.

◆ ivx() [1/2]

template<class Derived>

template<typename M6 >

static void pinocchio::InertiaBase< Derived >::ivx	(	const Motion &	v,
		const Derived &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ .

Parameters

[in]	v	The spatial velocity of the frame supporting the inertia.
[in]	I	The spatial inertia in motion.
[out]	Iout	The time derivative of the inertia I.

Definition at line 86 of file src/spatial/inertia.hpp.

◆ ivx() [2/2]

template<class Derived>

Matrix6 pinocchio::InertiaBase< Derived >::ivx ( const Motion & v ) const

inline

Definition at line 92 of file src/spatial/inertia.hpp.

◆ lever() [1/2]

template<class Derived>

const Vector3& pinocchio::InertiaBase< Derived >::lever ( ) const

inline

Definition at line 34 of file src/spatial/inertia.hpp.

◆ lever() [2/2]

template<class Derived>

Vector3& pinocchio::InertiaBase< Derived >::lever ( )

inline

Definition at line 35 of file src/spatial/inertia.hpp.

◆ mass() [1/2]

template<class Derived>

Scalar pinocchio::InertiaBase< Derived >::mass ( ) const

inline

Definition at line 32 of file src/spatial/inertia.hpp.

◆ mass() [2/2]

template<class Derived>

Scalar& pinocchio::InertiaBase< Derived >::mass ( )

inline

Definition at line 33 of file src/spatial/inertia.hpp.

◆ matrix()

template<class Derived>

Matrix6 pinocchio::InertiaBase< Derived >::matrix ( ) const

inline

Definition at line 39 of file src/spatial/inertia.hpp.

◆ operator Matrix6()

template<class Derived>

pinocchio::InertiaBase< Derived >::operator Matrix6 ( ) const

inline

Definition at line 40 of file src/spatial/inertia.hpp.

◆ operator!=()

template<class Derived>

bool pinocchio::InertiaBase< Derived >::operator!= ( const Derived_t & other ) const

inline

Definition at line 44 of file src/spatial/inertia.hpp.

◆ operator*()

template<class Derived>

template<typename MotionDerived >

ForceTpl<typename traits<MotionDerived>::Scalar,traits<MotionDerived>::Options> pinocchio::InertiaBase< Derived >::operator* ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 51 of file src/spatial/inertia.hpp.

◆ operator+()

template<class Derived>

Derived_t pinocchio::InertiaBase< Derived >::operator+ ( const Derived_t & Yb ) const

inline

Definition at line 47 of file src/spatial/inertia.hpp.

◆ operator+=()

template<class Derived>

Derived_t& pinocchio::InertiaBase< Derived >::operator+= ( const Derived_t & Yb )

inline

Definition at line 46 of file src/spatial/inertia.hpp.

◆ operator=()

template<class Derived>

Derived_t& pinocchio::InertiaBase< Derived >::operator= ( const Derived_t & clone )

inline

Definition at line 42 of file src/spatial/inertia.hpp.

◆ operator==()

template<class Derived>

bool pinocchio::InertiaBase< Derived >::operator== ( const Derived_t & other ) const

inline

Definition at line 43 of file src/spatial/inertia.hpp.

◆ se3Action()

template<class Derived>

Derived_t pinocchio::InertiaBase< Derived >::se3Action ( const SE3 & M ) const

inline

aI = aXb.act(bI)

Definition at line 110 of file src/spatial/inertia.hpp.

◆ se3ActionInverse()

template<class Derived>

Derived_t pinocchio::InertiaBase< Derived >::se3ActionInverse ( const SE3 & M ) const

inline

bI = aXb.actInv(aI)

Definition at line 113 of file src/spatial/inertia.hpp.

◆ setIdentity()

template<class Derived>

void pinocchio::InertiaBase< Derived >::setIdentity ( )

inline

Definition at line 100 of file src/spatial/inertia.hpp.

◆ setRandom()

template<class Derived>

void pinocchio::InertiaBase< Derived >::setRandom ( )

inline

Definition at line 101 of file src/spatial/inertia.hpp.

◆ setZero()

template<class Derived>

void pinocchio::InertiaBase< Derived >::setZero ( )

inline

Definition at line 99 of file src/spatial/inertia.hpp.

◆ SPATIAL_TYPEDEF_TEMPLATE()

template<class Derived>

pinocchio::InertiaBase< Derived >::SPATIAL_TYPEDEF_TEMPLATE ( Derived_t )

protected

◆ variation()

template<class Derived>

Matrix6 pinocchio::InertiaBase< Derived >::variation ( const Motion & v ) const

inline

Definition at line 55 of file src/spatial/inertia.hpp.

◆ vtiv()

template<class Derived>

Scalar pinocchio::InertiaBase< Derived >::vtiv ( const Motion & v ) const

inline

Definition at line 54 of file src/spatial/inertia.hpp.

◆ vxi() [1/2]

template<class Derived>

template<typename M6 >

static void pinocchio::InertiaBase< Derived >::vxi	(	const Motion &	v,
		const Derived &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ .

Parameters

[in]	v	The spatial velocity of the frame supporting the inertia.
[in]	I	The spatial inertia in motion.
[out]	Iout	The time derivative of the inertia I.

Definition at line 65 of file src/spatial/inertia.hpp.

◆ vxi() [2/2]

template<class Derived>

Matrix6 pinocchio::InertiaBase< Derived >::vxi ( const Motion & v ) const

inline

Definition at line 71 of file src/spatial/inertia.hpp.

Friends And Related Function Documentation

◆ operator<<

template<class Derived>

std::ostream& operator<<	(	std::ostream &	os,
		const InertiaBase< Derived_t > &	X
	)

friend

Definition at line 116 of file src/spatial/inertia.hpp.

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

src/spatial/inertia.hpp

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Friends

Detailed Description

template<class Derived> class pinocchio::InertiaBase< Derived >

Member Typedef Documentation

◆ Derived_t

Member Function Documentation

◆ derived() [1/2]

◆ derived() [2/2]

◆ disp()

◆ inertia() [1/2]

◆ inertia() [2/2]

◆ isApprox()

◆ isZero()

◆ ivx() [1/2]

◆ ivx() [2/2]

◆ lever() [1/2]

◆ lever() [2/2]

◆ mass() [1/2]

◆ mass() [2/2]

◆ matrix()

◆ operator Matrix6()

◆ operator!=()

◆ operator*()

◆ operator+()

◆ operator+=()

◆ operator=()

◆ operator==()

◆ se3Action()

◆ se3ActionInverse()

◆ setIdentity()

◆ setRandom()

◆ setZero()

◆ SPATIAL_TYPEDEF_TEMPLATE()

◆ variation()

◆ vtiv()

◆ vxi() [1/2]

◆ vxi() [2/2]

Friends And Related Function Documentation

◆ operator<<

template<class Derived>
class pinocchio::InertiaBase< Derived >