#include <fwd.hpp>
Classes | |
struct | AlphaSkewSquare |
struct | SkewSquare |
Public Types | |
enum | { Options = _Options } |
typedef Eigen::Matrix< Scalar, 2, 2, Options > | Matrix2 |
typedef Eigen::Matrix< Scalar, 3, 3, Options > | Matrix3 |
typedef Eigen::Matrix< Scalar, 3, 2, Options > | Matrix32 |
typedef _Scalar | Scalar |
typedef Eigen::Matrix< Scalar, 3, 1, Options > | Vector3 |
typedef Eigen::Matrix< Scalar, 6, 1, Options > | Vector6 |
Public Member Functions | |
template<typename NewScalar > | |
Symmetric3Tpl< NewScalar, Options > | cast () const |
const Vector6 & | data () const |
Vector6 & | data () |
Matrix32 | decomposeltI () const |
Computes L for a symmetric matrix A. More... | |
void | fill (const Scalar value) |
bool | isApprox (const Symmetric3Tpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
bool | isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
Matrix3 | matrix () const |
operator Matrix3 () const | |
bool | operator!= (const Symmetric3Tpl &other) const |
const Scalar & | operator() (const int &i, const int &j) const |
template<typename V3 > | |
Vector3 | operator* (const Eigen::MatrixBase< V3 > &v) const |
Symmetric3Tpl | operator+ (const Symmetric3Tpl &s2) const |
Symmetric3Tpl | operator+ (const Matrix3 &S) const |
Symmetric3Tpl & | operator+= (const Symmetric3Tpl &s2) |
Symmetric3Tpl | operator- (const SkewSquare &v) const |
Symmetric3Tpl | operator- (const AlphaSkewSquare &v) const |
Symmetric3Tpl | operator- (const Matrix3 &S) const |
Symmetric3Tpl & | operator-= (const SkewSquare &v) |
Symmetric3Tpl & | operator-= (const AlphaSkewSquare &v) |
bool | operator== (const Symmetric3Tpl &other) const |
template<typename D > | |
Symmetric3Tpl | rotate (const Eigen::MatrixBase< D > &R) const |
void | setIdentity () |
void | setRandom () |
void | setZero () |
template<typename Vector3 > | |
Matrix3 | svx (const Eigen::MatrixBase< Vector3 > &v) const |
Performs the operation . More... | |
Symmetric3Tpl () | |
template<typename Sc , int Opt> | |
Symmetric3Tpl (const Eigen::Matrix< Sc, 3, 3, Opt > &I) | |
Symmetric3Tpl (const Vector6 &I) | |
Symmetric3Tpl (const Scalar &a0, const Scalar &a1, const Scalar &a2, const Scalar &a3, const Scalar &a4, const Scalar &a5) | |
Scalar | vtiv (const Vector3 &v) const |
template<typename Vector3 > | |
Matrix3 | vxs (const Eigen::MatrixBase< Vector3 > &v) const |
Performs the operation . This operation is equivalent to applying the cross product of v on each column of S. More... | |
Static Public Member Functions | |
static Symmetric3Tpl | Identity () |
static Symmetric3Tpl | Random () |
static Symmetric3Tpl | RandomPositive () |
template<typename V3in , typename V3out > | |
static void | rhsMult (const Symmetric3Tpl &S3, const Eigen::MatrixBase< V3in > &vin, const Eigen::MatrixBase< V3out > &vout) |
template<typename Vector3 , typename Matrix3 > | |
static void | svx (const Eigen::MatrixBase< Vector3 > &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase< Matrix3 > &M) |
Performs the operation . More... | |
template<typename Vector3 , typename Matrix3 > | |
static void | vxs (const Eigen::MatrixBase< Vector3 > &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase< Matrix3 > &M) |
Performs the operation . This operation is equivalent to applying the cross product of v on each column of S. More... | |
static Symmetric3Tpl | Zero () |
Protected Attributes | |
Vector6 | m_data |
Friends | |
AlphaSkewSquare | operator* (const Scalar &m, const SkewSquare &sk) |
template<typename D > | |
Matrix3 | operator- (const Symmetric3Tpl &S, const Eigen::MatrixBase< D > &M) |
Definition at line 53 of file src/spatial/fwd.hpp.
typedef Eigen::Matrix<Scalar,2,2,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Matrix2 |
Definition at line 23 of file spatial/symmetric3.hpp.
typedef Eigen::Matrix<Scalar,3,3,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Matrix3 |
Definition at line 22 of file spatial/symmetric3.hpp.
typedef Eigen::Matrix<Scalar,3,2,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Matrix32 |
Definition at line 24 of file spatial/symmetric3.hpp.
typedef _Scalar pinocchio::Symmetric3Tpl< _Scalar, _Options >::Scalar |
Definition at line 18 of file spatial/symmetric3.hpp.
typedef Eigen::Matrix<Scalar,3,1,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Vector3 |
Definition at line 20 of file spatial/symmetric3.hpp.
typedef Eigen::Matrix<Scalar,6,1,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Vector6 |
Definition at line 21 of file spatial/symmetric3.hpp.
anonymous enum |
Enumerator | |
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Options |
Definition at line 19 of file spatial/symmetric3.hpp.
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Definition at line 29 of file spatial/symmetric3.hpp.
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Definition at line 32 of file spatial/symmetric3.hpp.
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Definition at line 40 of file spatial/symmetric3.hpp.
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Definition at line 42 of file spatial/symmetric3.hpp.
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Definition at line 453 of file spatial/symmetric3.hpp.
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Definition at line 160 of file spatial/symmetric3.hpp.
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Definition at line 161 of file spatial/symmetric3.hpp.
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Computes L for a symmetric matrix A.
Definition at line 403 of file spatial/symmetric3.hpp.
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Definition at line 80 of file spatial/symmetric3.hpp.
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inlinestatic |
Definition at line 63 of file spatial/symmetric3.hpp.
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Definition at line 73 of file spatial/symmetric3.hpp.
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Definition at line 77 of file spatial/symmetric3.hpp.
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Definition at line 186 of file spatial/symmetric3.hpp.
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Definition at line 194 of file spatial/symmetric3.hpp.
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Definition at line 70 of file spatial/symmetric3.hpp.
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Definition at line 377 of file spatial/symmetric3.hpp.
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Definition at line 358 of file spatial/symmetric3.hpp.
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Definition at line 332 of file spatial/symmetric3.hpp.
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Definition at line 390 of file spatial/symmetric3.hpp.
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Definition at line 337 of file spatial/symmetric3.hpp.
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Definition at line 95 of file spatial/symmetric3.hpp.
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Definition at line 142 of file spatial/symmetric3.hpp.
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Definition at line 382 of file spatial/symmetric3.hpp.
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Definition at line 103 of file spatial/symmetric3.hpp.
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Definition at line 151 of file spatial/symmetric3.hpp.
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Definition at line 67 of file spatial/symmetric3.hpp.
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Definition at line 49 of file spatial/symmetric3.hpp.
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Definition at line 172 of file spatial/symmetric3.hpp.
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Definition at line 343 of file spatial/symmetric3.hpp.
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Definition at line 415 of file spatial/symmetric3.hpp.
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Definition at line 64 of file spatial/symmetric3.hpp.
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Definition at line 50 of file spatial/symmetric3.hpp.
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Definition at line 47 of file spatial/symmetric3.hpp.
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inlinestatic |
Performs the operation .
Vector3,Matrix3 |
[in] | v | a vector of dimension 3. |
[in] | S3 | a symmetric matrix of dimension 3x3. |
[out] | M | an output matrix of dimension 3x3. |
Definition at line 284 of file spatial/symmetric3.hpp.
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Performs the operation .
Vector3 |
[in] | v | a vector of dimension 3. |
Definition at line 325 of file spatial/symmetric3.hpp.
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Definition at line 196 of file spatial/symmetric3.hpp.
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inlinestatic |
Performs the operation . This operation is equivalent to applying the cross product of v on each column of S.
Vector3,Matrix3 |
[in] | v | a vector of dimension 3. |
[in] | S3 | a symmetric matrix of dimension 3x3. |
[out] | M | an output matrix of dimension 3x3. |
Definition at line 223 of file spatial/symmetric3.hpp.
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Performs the operation . This operation is equivalent to applying the cross product of v on each column of S.
Vector3 |
[in] | v | a vector of dimension 3. |
Definition at line 267 of file spatial/symmetric3.hpp.
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inlinestatic |
Definition at line 46 of file spatial/symmetric3.hpp.
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Definition at line 139 of file spatial/symmetric3.hpp.
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Definition at line 113 of file spatial/symmetric3.hpp.
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Definition at line 468 of file spatial/symmetric3.hpp.