Public Member Functions | Friends | List of all members
pinocchio::MotionBase< Derived > Class Template Reference

#include <fwd.hpp>

Inheritance diagram for pinocchio::MotionBase< Derived >:
Inheritance graph
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Public Member Functions

ConstAngularType angular () const
 
AngularType angular ()
 
template<typename V3Like >
void angular (const Eigen::MatrixBase< V3Like > &w)
 
template<typename OtherSpatialType >
MotionAlgebraAction< OtherSpatialType, Derived >::ReturnType cross (const OtherSpatialType &d) const
 
Derived & derived ()
 
const Derived & derived () const
 
void disp (std::ostream &os) const
 
template<typename ForceDerived >
Scalar dot (const ForceDense< ForceDerived > &f) const
 
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
 
ConstLinearType linear () const
 
LinearType linear ()
 
template<typename V3Like >
void linear (const Eigen::MatrixBase< V3Like > &v)
 
 MOTION_TYPEDEF_TPL (Derived)
 
 operator Matrix6 () const
 
 operator PlainReturnType () const
 
 operator Vector6 () const
 
template<typename M2 >
bool operator!= (const MotionBase< M2 > &other) const
 
template<typename OtherScalar >
internal::RHSScalarMultiplication< Derived, OtherScalar >::ReturnType operator* (const OtherScalar &alpha) const
 
Derived operator+ (const MotionBase< Derived > &v) const
 
Derived & operator+= (const MotionBase< Derived > &v)
 
Derived operator- () const
 
Derived operator- (const MotionBase< Derived > &v) const
 
Derived & operator-= (const MotionBase< Derived > &v)
 
template<typename OtherScalar >
Derived operator/ (const OtherScalar &alpha) const
 
template<typename M2 >
bool operator== (const MotionBase< M2 > &other) const
 
PlainReturnType plain () const
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3Action (const SE3Tpl< S2, O2 > &m) const
 
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
 
void setZero ()
 
ActionMatrixType toActionMatrix () const
 
ActionMatrixType toDualActionMatrix () const
 
HomogeneousMatrixType toHomogeneousMatrix () const
 The homogeneous representation of the motion vector $ \xi $. More...
 
ToVectorConstReturnType toVector () const
 
ToVectorReturnType toVector ()
 

Friends

std::ostream & operator<< (std::ostream &os, const MotionBase< Derived > &v)
 

Detailed Description

template<class Derived>
class pinocchio::MotionBase< Derived >

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

Member Function Documentation

◆ angular() [1/3]

template<class Derived>
ConstAngularType pinocchio::MotionBase< Derived >::angular ( ) const
inline

Definition at line 21 of file motion-base.hpp.

◆ angular() [2/3]

template<class Derived>
AngularType pinocchio::MotionBase< Derived >::angular ( )
inline

Definition at line 23 of file motion-base.hpp.

◆ angular() [3/3]

template<class Derived>
template<typename V3Like >
void pinocchio::MotionBase< Derived >::angular ( const Eigen::MatrixBase< V3Like > &  w)
inline

Definition at line 27 of file motion-base.hpp.

◆ cross()

template<class Derived>
template<typename OtherSpatialType >
MotionAlgebraAction<OtherSpatialType,Derived>::ReturnType pinocchio::MotionBase< Derived >::cross ( const OtherSpatialType &  d) const
inline

Definition at line 87 of file motion-base.hpp.

◆ derived() [1/2]

template<class Derived>
Derived& pinocchio::MotionBase< Derived >::derived ( )
inline

Definition at line 18 of file motion-base.hpp.

◆ derived() [2/2]

template<class Derived>
const Derived& pinocchio::MotionBase< Derived >::derived ( ) const
inline

Definition at line 19 of file motion-base.hpp.

◆ disp()

template<class Derived>
void pinocchio::MotionBase< Derived >::disp ( std::ostream &  os) const
inline

Definition at line 111 of file motion-base.hpp.

◆ dot()

template<class Derived>
template<typename ForceDerived >
Scalar pinocchio::MotionBase< Derived >::dot ( const ForceDense< ForceDerived > &  f) const
inline

Definition at line 109 of file motion-base.hpp.

◆ isApprox()

template<class Derived>
bool pinocchio::MotionBase< Derived >::isApprox ( const Derived &  other,
const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision() 
) const
inline

Definition at line 92 of file motion-base.hpp.

◆ isZero()

template<class Derived>
bool pinocchio::MotionBase< Derived >::isZero ( const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
inline

Definition at line 95 of file motion-base.hpp.

◆ linear() [1/3]

template<class Derived>
ConstLinearType pinocchio::MotionBase< Derived >::linear ( ) const
inline

Definition at line 22 of file motion-base.hpp.

◆ linear() [2/3]

template<class Derived>
LinearType pinocchio::MotionBase< Derived >::linear ( )
inline

Definition at line 24 of file motion-base.hpp.

◆ linear() [3/3]

template<class Derived>
template<typename V3Like >
void pinocchio::MotionBase< Derived >::linear ( const Eigen::MatrixBase< V3Like > &  v)
inline

Definition at line 31 of file motion-base.hpp.

◆ MOTION_TYPEDEF_TPL()

template<class Derived>
pinocchio::MotionBase< Derived >::MOTION_TYPEDEF_TPL ( Derived  )

◆ operator Matrix6()

template<class Derived>
pinocchio::MotionBase< Derived >::operator Matrix6 ( ) const
inline

Definition at line 43 of file motion-base.hpp.

◆ operator PlainReturnType()

template<class Derived>
pinocchio::MotionBase< Derived >::operator PlainReturnType ( ) const
inline

Definition at line 34 of file motion-base.hpp.

◆ operator Vector6()

template<class Derived>
pinocchio::MotionBase< Derived >::operator Vector6 ( ) const
inline

Definition at line 39 of file motion-base.hpp.

◆ operator!=()

template<class Derived>
template<typename M2 >
bool pinocchio::MotionBase< Derived >::operator!= ( const MotionBase< M2 > &  other) const
inline

Definition at line 67 of file motion-base.hpp.

◆ operator*()

template<class Derived>
template<typename OtherScalar >
internal::RHSScalarMultiplication<Derived,OtherScalar>::ReturnType pinocchio::MotionBase< Derived >::operator* ( const OtherScalar &  alpha) const
inline

Definition at line 78 of file motion-base.hpp.

◆ operator+()

template<class Derived>
Derived pinocchio::MotionBase< Derived >::operator+ ( const MotionBase< Derived > &  v) const
inline

Definition at line 71 of file motion-base.hpp.

◆ operator+=()

template<class Derived>
Derived& pinocchio::MotionBase< Derived >::operator+= ( const MotionBase< Derived > &  v)
inline

Definition at line 73 of file motion-base.hpp.

◆ operator-() [1/2]

template<class Derived>
Derived pinocchio::MotionBase< Derived >::operator- ( ) const
inline

Definition at line 70 of file motion-base.hpp.

◆ operator-() [2/2]

template<class Derived>
Derived pinocchio::MotionBase< Derived >::operator- ( const MotionBase< Derived > &  v) const
inline

Definition at line 72 of file motion-base.hpp.

◆ operator-=()

template<class Derived>
Derived& pinocchio::MotionBase< Derived >::operator-= ( const MotionBase< Derived > &  v)
inline

Definition at line 74 of file motion-base.hpp.

◆ operator/()

template<class Derived>
template<typename OtherScalar >
Derived pinocchio::MotionBase< Derived >::operator/ ( const OtherScalar &  alpha) const
inline

Definition at line 82 of file motion-base.hpp.

◆ operator==()

template<class Derived>
template<typename M2 >
bool pinocchio::MotionBase< Derived >::operator== ( const MotionBase< M2 > &  other) const
inline

Definition at line 63 of file motion-base.hpp.

◆ plain()

template<class Derived>
PlainReturnType pinocchio::MotionBase< Derived >::plain ( ) const
inline

Definition at line 35 of file motion-base.hpp.

◆ se3Action()

template<class Derived>
template<typename S2 , int O2>
SE3GroupAction<Derived>::ReturnType pinocchio::MotionBase< Derived >::se3Action ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 100 of file motion-base.hpp.

◆ se3ActionInverse()

template<class Derived>
template<typename S2 , int O2>
SE3GroupAction<Derived>::ReturnType pinocchio::MotionBase< Derived >::se3ActionInverse ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 105 of file motion-base.hpp.

◆ setZero()

template<class Derived>
void pinocchio::MotionBase< Derived >::setZero ( )
inline

Definition at line 60 of file motion-base.hpp.

◆ toActionMatrix()

template<class Derived>
ActionMatrixType pinocchio::MotionBase< Derived >::toActionMatrix ( ) const
inline

Definition at line 41 of file motion-base.hpp.

◆ toDualActionMatrix()

template<class Derived>
ActionMatrixType pinocchio::MotionBase< Derived >::toDualActionMatrix ( ) const
inline

Definition at line 42 of file motion-base.hpp.

◆ toHomogeneousMatrix()

template<class Derived>
HomogeneousMatrixType pinocchio::MotionBase< Derived >::toHomogeneousMatrix ( ) const
inline

The homogeneous representation of the motion vector $ \xi $.

With $ \hat{\xi} = \left( \begin{array}{cc} \omega & v \\ 0 & 0 \\ \end{array} \right) $,

\[ {}^a\dot{M}_b = \hat{\xi} {}^aM_b \]

Note
This function is provided for completeness, but it is not the best way to use Motion quantities in terms of sparsity exploitation and general efficiency. For integration, the recommended way is to use Motion vectors along with the integrate function.

Definition at line 58 of file motion-base.hpp.

◆ toVector() [1/2]

template<class Derived>
ToVectorConstReturnType pinocchio::MotionBase< Derived >::toVector ( ) const
inline

Definition at line 37 of file motion-base.hpp.

◆ toVector() [2/2]

template<class Derived>
ToVectorReturnType pinocchio::MotionBase< Derived >::toVector ( )
inline

Definition at line 38 of file motion-base.hpp.

Friends And Related Function Documentation

◆ operator<<

template<class Derived>
std::ostream& operator<< ( std::ostream &  os,
const MotionBase< Derived > &  v 
)
friend

Definition at line 112 of file motion-base.hpp.


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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:35