pinocchio::ForceDense< Derived > Class Template Reference

#include <force-dense.hpp>

Inheritance diagram for pinocchio::ForceDense< Derived >:

Public Types
typedef ForceBase< Derived >	Base
typedef traits< Derived >::ForceRefType	ForceRefType

Public Member Functions
template<typename OtherScalar >
ForcePlain	__div__ (const OtherScalar &alpha) const
template<typename M1 >
Derived &	__mequ__ (const ForceDense< M1 > &v)
template<typename M1 >
ForcePlain	__minus__ (const ForceDense< M1 > &v) const
template<typename OtherScalar >
ForcePlain	__mult__ (const OtherScalar &alpha) const
ForcePlain	__opposite__ () const
template<typename M1 >
Derived &	__pequ__ (const ForceDense< M1 > &v)
template<typename M1 >
ForcePlain	__plus__ (const ForceDense< M1 > &v) const
AngularType	angular ()
	Return the angular part of the force vector. More...
ConstAngularType	angular () const
	Return the angular part of the force vector. More...
template<typename V3Like >
void	angular (const Eigen::MatrixBase< V3Like > &n)
	Set the angular part of the force vector. More...
Derived &	derived ()
const Derived &	derived () const
void	disp_impl (std::ostream &os) const
template<typename F1 >
Scalar	dot (const MotionDense< F1 > &phi) const
	FORCE_TYPEDEF_TPL (Derived)
bool	isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
template<typename M2 >
bool	isApprox (const ForceDense< M2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
template<typename D2 >
bool	isApprox_impl (const ForceDense< D2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
template<typename D2 >
bool	isEqual_impl (const ForceBase< D2 > &other) const
template<typename D2 >
bool	isEqual_impl (const ForceDense< D2 > &other) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
LinearType	linear ()
	Return the linear part of the force vector. More...
ConstLinearType	linear () const
	Return the linear part of the force vector. More...
template<typename V3Like >
void	linear (const Eigen::MatrixBase< V3Like > &f)
	Set the linear part of the force vector. More...
template<typename M1 >
ForcePlain	motionAction (const MotionDense< M1 > &v) const
template<typename M1 , typename M2 >
void	motionAction (const MotionDense< M1 > &v, ForceDense< M2 > &fout) const
template<typename F1 >
ForcePlain	operator+ (const ForceDense< F1 > &f) const
template<typename F1 >
Derived &	operator+= (const ForceBase< F1 > &f)
template<typename F1 >
Derived &	operator+= (const ForceDense< F1 > &f)
ForcePlain	operator- () const
template<typename F1 >
ForcePlain	operator- (const ForceDense< F1 > &f) const
template<typename M1 >
Derived &	operator-= (const ForceDense< M1 > &v)
template<typename V6 >
Derived &	operator= (const Eigen::MatrixBase< V6 > &v)
Derived &	operator= (const ForceBase< Derived > &other)
	Copies the Derived Force into *this. More...
template<typename D2 >
Derived &	operator= (const ForceDense< D2 > &other)
ForceRefType	ref ()
template<typename S2 , int O2>
ForcePlain	se3Action_impl (const SE3Tpl< S2, O2 > &m) const
template<typename S2 , int O2, typename D2 >
void	se3Action_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
template<typename S2 , int O2>
ForcePlain	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const
template<typename S2 , int O2, typename D2 >
void	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
template<typename D2 >
Derived &	setFrom (const ForceDense< D2 > &other)
Derived &	setRandom ()
Derived &	setZero ()
Public Member Functions inherited from pinocchio::ForceBase< Derived >
AngularType	angular ()
	Return the angular part of the force vector. More...
ConstAngularType	angular () const
	Return the angular part of the force vector. More...
template<typename V3Like >
void	angular (const Eigen::MatrixBase< V3Like > &n)
	Set the angular part of the force vector. More...
Derived &	derived ()
const Derived &	derived () const
void	disp (std::ostream &os) const
template<typename MotionDerived >
Scalar	dot (const MotionDense< MotionDerived > &m) const
	FORCE_TYPEDEF_TPL (Derived)
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
LinearType	linear ()
	Return the linear part of the force vector. More...
ConstLinearType	linear () const
	Return the linear part of the force vector. More...
template<typename V3Like >
void	linear (const Eigen::MatrixBase< V3Like > &f)
	Set the linear part of the force vector. More...
template<typename M1 >
MotionAlgebraAction< Derived, M1 >::ReturnType	motionAction (const MotionDense< M1 > &v) const
	operator Vector6 () const
template<typename F2 >
bool	operator!= (const ForceBase< F2 > &other) const
template<typename OtherScalar >
ForcePlain	operator* (const OtherScalar &alpha) const
Derived	operator+ (const ForceBase< Derived > &phi) const
Derived &	operator+= (const ForceBase< Derived > &phi)
	Replaces *this by *this + other. More...
Derived	operator- () const
Derived	operator- (const ForceBase< Derived > &phi) const
Derived &	operator-= (const ForceBase< Derived > &phi)
	Replaces *this by *this - other. More...
template<typename OtherScalar >
ForcePlain	operator/ (const OtherScalar &alpha) const
Derived &	operator= (const ForceBase< Derived > &other)
	Copies the Derived Force into *this. More...
template<typename F2 >
bool	operator== (const ForceBase< F2 > &other) const
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const
	Transform from A to B coordinates the Force represented by *this such that. More...
template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
	Transform from B to A coordinates the Force represented by *this such that. More...
ToVectorReturnType	toVector ()
	Return the force as an Eigen vector. More...
ToVectorConstReturnType	toVector () const
	Return the force as an Eigen vector. More...

Detailed Description

template<typename Derived>
class pinocchio::ForceDense< Derived >

Definition at line 24 of file force-dense.hpp.

Member Typedef Documentation

Base

template<typename Derived >

typedef ForceBase<Derived> pinocchio::ForceDense< Derived >::Base

Definition at line 27 of file force-dense.hpp.

ForceRefType

template<typename Derived >

typedef traits<Derived>::ForceRefType pinocchio::ForceDense< Derived >::ForceRefType

Definition at line 29 of file force-dense.hpp.

Member Function Documentation

__div__()

template<typename Derived >

template<typename OtherScalar >

ForcePlain pinocchio::ForceDense< Derived >::__div__ ( const OtherScalar &  alpha ) const

inline

Definition at line 111 of file force-dense.hpp.

__mequ__()

template<typename Derived >

template<typename M1 >

Derived& pinocchio::ForceDense< Derived >::__mequ__ ( const ForceDense< M1 > &  v )

inline

Definition at line 103 of file force-dense.hpp.

__minus__()

template<typename Derived >

template<typename M1 >

ForcePlain pinocchio::ForceDense< Derived >::__minus__ ( const ForceDense< M1 > &  v ) const

inline

Definition at line 95 of file force-dense.hpp.

__mult__()

template<typename Derived >

template<typename OtherScalar >

ForcePlain pinocchio::ForceDense< Derived >::__mult__ ( const OtherScalar &  alpha ) const

inline

Definition at line 107 of file force-dense.hpp.

__opposite__()

template<typename Derived >

ForcePlain pinocchio::ForceDense< Derived >::__opposite__ ( ) const

inline

Definition at line 88 of file force-dense.hpp.

__pequ__()

template<typename Derived >

template<typename M1 >

Derived& pinocchio::ForceDense< Derived >::__pequ__ ( const ForceDense< M1 > &  v )

inline

Definition at line 99 of file force-dense.hpp.

__plus__()

template<typename Derived >

template<typename M1 >

ForcePlain pinocchio::ForceDense< Derived >::__plus__ ( const ForceDense< M1 > &  v ) const

inline

Definition at line 91 of file force-dense.hpp.

angular() [1/3]

template<typename Derived >

AngularType pinocchio::ForceBase< Derived >::angular

inline

Return the angular part of the force vector.

Returns

The 3D vector associated to the angular part of the 6D force vector

Definition at line 45 of file force-base.hpp.

angular() [2/3]

template<typename Derived >

ConstAngularType pinocchio::ForceBase< Derived >::angular

inline

Return the angular part of the force vector.

Returns

The 3D vector associated to the angular part of the 6D force vector

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

angular() [3/3]

template<typename Derived >

template<typename V3Like >

void pinocchio::ForceBase< Derived >::angular ( typename V3Like  )

inline

Set the angular part of the force vector.

Template Parameters

V3Like

A vector 3 like type.

Parameters

[in]

n

Definition at line 59 of file force-base.hpp.

derived() [1/2]

template<typename Derived >

Derived& pinocchio::ForceBase< Derived >::derived

inline

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

derived() [2/2]

template<typename Derived >

const Derived& pinocchio::ForceBase< Derived >::derived

inline

Definition at line 28 of file force-base.hpp.

disp_impl()

template<typename Derived >

void pinocchio::ForceDense< Derived >::disp_impl ( std::ostream &  os ) const

inline

Definition at line 179 of file force-dense.hpp.

dot()

template<typename Derived >

template<typename F1 >

Scalar pinocchio::ForceDense< Derived >::dot ( const MotionDense< F1 > &  phi ) const

inline

Definition at line 115 of file force-dense.hpp.

FORCE_TYPEDEF_TPL()

template<typename Derived >

pinocchio::ForceDense< Derived >::FORCE_TYPEDEF_TPL

(

Derived

)

isApprox() [1/2]

template<typename Derived >

bool pinocchio::ForceBase< Derived >::isApprox

inline

Returns

true if *this is approximately equal to other, within the precision given by prec.

Definition at line 106 of file force-base.hpp.

isApprox() [2/2]

template<typename Derived >

template<typename M2 >

bool pinocchio::ForceDense< Derived >::isApprox ( const ForceDense< M2 > &  f, const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision()  ) const

inline

Definition at line 134 of file force-dense.hpp.

isApprox_impl()

template<typename Derived >

template<typename D2 >

bool pinocchio::ForceDense< Derived >::isApprox_impl ( const ForceDense< D2 > &  f, const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision()  ) const

inline

Definition at line 138 of file force-dense.hpp.

isEqual_impl() [1/2]

template<typename Derived >

template<typename D2 >

bool pinocchio::ForceDense< Derived >::isEqual_impl ( const ForceBase< D2 > &  other ) const

inline

Definition at line 46 of file force-dense.hpp.

isEqual_impl() [2/2]

template<typename Derived >

template<typename D2 >

bool pinocchio::ForceDense< Derived >::isEqual_impl ( const ForceDense< D2 > &  other ) const

inline

Definition at line 42 of file force-dense.hpp.

isZero()

template<typename Derived >

bool pinocchio::ForceBase< Derived >::isZero

inline

Returns

true if the component of the linear and angular part of the Spatial Force are approximately equal to zero, within the precision given by prec.

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

isZero_impl()

template<typename Derived >

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

inline

Definition at line 143 of file force-dense.hpp.

linear() [1/3]

template<typename Derived >

LinearType pinocchio::ForceBase< Derived >::linear

inline

Return the linear part of the force vector.

Returns

The 3D vector associated to the linear part of the 6D force vector

Definition at line 48 of file force-base.hpp.

linear() [2/3]

template<typename Derived >

ConstLinearType pinocchio::ForceBase< Derived >::linear

inline

Return the linear part of the force vector.

Returns

The 3D vector associated to the linear part of the 6D force vector

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

linear() [3/3]

template<typename Derived >

template<typename V3Like >

void pinocchio::ForceBase< Derived >::linear ( typename V3Like  )

inline

Set the linear part of the force vector.

Template Parameters

V3Like

A vector 3 like type.

Parameters

[in]

f

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

motionAction() [1/2]

template<typename Derived >

template<typename M1 >

ForcePlain pinocchio::ForceDense< Derived >::motionAction ( const MotionDense< M1 > &  v ) const

inline

Definition at line 126 of file force-dense.hpp.

motionAction() [2/2]

template<typename Derived >

template<typename M1 , typename M2 >

void pinocchio::ForceDense< Derived >::motionAction ( const MotionDense< M1 > &  v, ForceDense< M2 > &  fout  ) const

inline

Definition at line 119 of file force-dense.hpp.

operator+()

template<typename Derived >

template<typename F1 >

ForcePlain pinocchio::ForceDense< Derived >::operator+ ( const ForceDense< F1 > &  f ) const

inline

Definition at line 75 of file force-dense.hpp.

operator+=() [1/2]

template<typename Derived >

template<typename F1 >

Derived& pinocchio::ForceDense< Derived >::operator+= ( const ForceBase< F1 > &  f )

inline

Definition at line 82 of file force-dense.hpp.

operator+=() [2/2]

template<typename Derived >

template<typename F1 >

Derived& pinocchio::ForceDense< Derived >::operator+= ( const ForceDense< F1 > &  f )

inline

Definition at line 80 of file force-dense.hpp.

operator-() [1/2]

template<typename Derived >

ForcePlain pinocchio::ForceDense< Derived >::operator- ( ) const

inline

Definition at line 73 of file force-dense.hpp.

operator-() [2/2]

template<typename Derived >

template<typename F1 >

ForcePlain pinocchio::ForceDense< Derived >::operator- ( const ForceDense< F1 > &  f ) const

inline

Definition at line 77 of file force-dense.hpp.

operator-=()

template<typename Derived >

template<typename M1 >

Derived& pinocchio::ForceDense< Derived >::operator-= ( const ForceDense< M1 > &  v )

inline

Definition at line 86 of file force-dense.hpp.

operator=() [1/3]

template<typename Derived >

template<typename V6 >

Derived& pinocchio::ForceDense< Derived >::operator= ( const Eigen::MatrixBase< V6 > &  v )

inline

Definition at line 65 of file force-dense.hpp.

operator=() [2/3]

template<typename Derived >

Derived& pinocchio::ForceBase< Derived >::operator=

inline

Copies the Derived Force into *this.

Returns

a reference to *this

Definition at line 117 of file force-base.hpp.

operator=() [3/3]

template<typename Derived >

template<typename D2 >

Derived& pinocchio::ForceDense< Derived >::operator= ( const ForceDense< D2 > &  other )

inline

Definition at line 59 of file force-dense.hpp.

ref()

template<typename Derived >

ForceRefType pinocchio::ForceDense< Derived >::ref ( )

inline

Returns

a ForceRef on this.

Definition at line 187 of file force-dense.hpp.

se3Action_impl() [1/2]

template<typename Derived >

template<typename S2 , int O2>

ForcePlain pinocchio::ForceDense< Derived >::se3Action_impl ( const SE3Tpl< S2, O2 > &  m ) const

inline

Definition at line 157 of file force-dense.hpp.

se3Action_impl() [2/2]

template<typename Derived >

template<typename S2 , int O2, typename D2 >

void pinocchio::ForceDense< Derived >::se3Action_impl ( const SE3Tpl< S2, O2 > &  m, ForceDense< D2 > &  f  ) const

inline

Definition at line 149 of file force-dense.hpp.

se3ActionInverse_impl() [1/2]

template<typename Derived >

template<typename S2 , int O2>

ForcePlain pinocchio::ForceDense< Derived >::se3ActionInverse_impl ( const SE3Tpl< S2, O2 > &  m ) const

inline

Definition at line 172 of file force-dense.hpp.

se3ActionInverse_impl() [2/2]

template<typename Derived >

template<typename S2 , int O2, typename D2 >

void pinocchio::ForceDense< Derived >::se3ActionInverse_impl ( const SE3Tpl< S2, O2 > &  m, ForceDense< D2 > &  f  ) const

inline

Definition at line 165 of file force-dense.hpp.

setFrom()

template<typename Derived >

template<typename D2 >

Derived& pinocchio::ForceDense< Derived >::setFrom ( const ForceDense< D2 > &  other )

inline

Definition at line 51 of file force-dense.hpp.

setRandom()

template<typename Derived >

Derived& pinocchio::ForceDense< Derived >::setRandom ( )

inline

Definition at line 39 of file force-dense.hpp.

setZero()

template<typename Derived >

Derived& pinocchio::ForceDense< Derived >::setZero ( )

inline

Definition at line 38 of file force-dense.hpp.

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

• force-dense.hpp