pinocchio::forceSet Namespace Reference

Group force actions. More...

Functions
template<int Op, typename MotionDerived , typename Mat , typename MatRet >
static void	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	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	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	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	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	se3ActionInverse (const SE3Tpl< Scalar, Options > &m, const Eigen::MatrixBase< Mat > &iF, Eigen::MatrixBase< MatRet > const &jF)
	Default implementation with assignment operator=. More...

Detailed Description

Group force actions.

Function Documentation

motionAction() [1/2]

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  )

static

Action of a motion on a set of forces, represented by a 6xN matrix whose each column represent a spatial force.

motionAction() [2/2]

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  )

static

Default implementation with assignment operator=.

se3Action() [1/2]

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  )

static

SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial force.

se3Action() [2/2]

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  )

static

Default implementation with assignment operator=.

se3ActionInverse() [1/2]

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  )

static

Inverse SE3 action on a set of forces, represented by a 6xN matrix whose each column represent a spatial force.

se3ActionInverse() [2/2]

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  )

static

Default implementation with assignment operator=.