#include "pinocchio/macros.hpp"#include "pinocchio/spatial/fwd.hpp"#include "pinocchio/spatial/act-on-set.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
| pinocchio::forceSet | |
| Group force actions. | |
| pinocchio::motionSet | |
| Group motion actions. | |
Functions | |
| template<int Op, typename ForceDerived , typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::act (const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF) |
| Action of a motion set on a force object. The input motion set is represented by a 6xN matrix whose each column represent a spatial motion. The output force set is represented by a 6xN matrix whose each column represent a spatial force. More... | |
| template<typename ForceDerived , typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::act (const Eigen::MatrixBase< Mat > &iV, const ForceDense< ForceDerived > &f, Eigen::MatrixBase< MatRet > const &jF) |
| Default implementation with assignment operator=. More... | |
| template<int Op, typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::inertiaAction (const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Action of an Inertia matrix on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion. More... | |
| template<typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::inertiaAction (const InertiaTpl< Scalar, Options > &I, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Default implementation with assignment operator=. More... | |
| template<int Op, typename MotionDerived , typename Mat , typename MatRet > | |
| static void | pinocchio::forceSet::motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Action of a motion on a set of forces, represented by a 6xN matrix whose each column represent a spatial force. More... | |
| template<typename MotionDerived , typename Mat , typename MatRet > | |
| static void | pinocchio::forceSet::motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Default implementation with assignment operator=. More... | |
| template<int Op, typename MotionDerived , typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Action of a motion on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion. More... | |
| template<typename MotionDerived , typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::motionAction (const MotionDense< MotionDerived > &v, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Default implementation with assignment operator=. More... | |
| template<int Op, typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::forceSet::se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial force. More... | |
| template<typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::forceSet::se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Default implementation with assignment operator=. More... | |
| template<int Op, typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV) |
| SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion. More... | |
| template<typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::se3Action (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV) |
| Default implementation with assignment operator=. More... | |
| template<int Op, typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::forceSet::se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Inverse SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial force. More... | |
| template<typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::forceSet::se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF) |
| Default implementation with assignment operator=. More... | |
| template<int Op, typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV) |
| Inverse SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion. More... | |
| template<typename Scalar , int Options, typename Mat , typename MatRet > | |
| static void | pinocchio::motionSet::se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iV, Eigen::MatrixBase< MatRet > const &jV) |
| Default implementation with assignment operator=. More... | |