#include <inertia.hpp>

Inheritance diagram for pinocchio::InertiaBase< Derived >:

Public Member Functions
Derived &	const_cast_derived () const

Derived &	derived ()

const Derived &	derived () const

void	disp (std::ostream &os) const

Symmetric3 &	inertia ()

const Symmetric3 &	inertia () const

Matrix6	inverse () const

template<typename Matrix6Like >
void	inverse (const Eigen::MatrixBase< Matrix6Like > &mat) 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

template<typename MotionDerived >
Matrix6	ivx (const MotionDense< MotionDerived > &v) const

Vector3 &	lever ()

const Vector3 &	lever () const

Scalar &	mass ()

Scalar	mass () const

Matrix6	matrix () const

template<typename Matrix6Like >
void	matrix (const Eigen::MatrixBase< Matrix6Like > &mat) const

	operator Matrix6 () const

bool	operator!= (const Derived &other) const

template<typename MotionDerived >
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options >	operator* (const MotionDense< MotionDerived > &v) const

Derived	operator+ (const Derived &Yb) const

Derived &	operator+= (const Derived &Yb)

Derived	operator- (const Derived &Yb) const

Derived &	operator-= (const Derived &Yb)

Derived &	operator= (const Derived &clone)

bool	operator== (const Derived &other) const

template<typename S2 , int O2>
Derived	se3Action (const SE3Tpl< S2, O2 > &M) const
	aI = aXb.act(bI) More...

template<typename S2 , int O2>
Derived	se3ActionInverse (const SE3Tpl< S2, O2 > &M) const
	bI = aXb.actInv(aI) More...

void	setIdentity ()

void	setRandom ()

void	setZero ()

	SPATIAL_TYPEDEF_TEMPLATE (Derived)

template<typename MotionDerived >
Matrix6	variation (const MotionDense< MotionDerived > &v) const

template<typename MotionDerived >
Scalar	vtiv (const MotionDense< MotionDerived > &v) const

template<typename MotionDerived >
Matrix6	vxi (const MotionDense< MotionDerived > &v) const

Static Public Member Functions
template<typename MotionDerived , typename M6 >
static void	ivx (const MotionDense< MotionDerived > &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ . More...

template<typename MotionDerived , typename M6 >
static void	vxi (const MotionDense< MotionDerived > &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout)
	Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ . More...

Friends
std::ostream &	operator<< (std::ostream &os, const InertiaBase< Derived > &X)

Additional Inherited Members
Public Types inherited from pinocchio::NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Detailed Description

template<class Derived>
struct pinocchio::InertiaBase< Derived >

Definition at line 19 of file spatial/inertia.hpp.

Member Function Documentation

◆ const_cast_derived()

template<class Derived >

Derived& pinocchio::InertiaBase< Derived >::const_cast_derived ( ) const

inline

Definition at line 32 of file spatial/inertia.hpp.

◆ derived() [1/2]

template<class Derived >

Derived& pinocchio::InertiaBase< Derived >::derived ( )

inline

Definition at line 23 of file spatial/inertia.hpp.

◆ derived() [2/2]

template<class Derived >

const Derived& pinocchio::InertiaBase< Derived >::derived ( ) const

inline

Definition at line 27 of file spatial/inertia.hpp.

◆ disp()

template<class Derived >

void pinocchio::InertiaBase< Derived >::disp ( std::ostream & os ) const

inline

Definition at line 222 of file spatial/inertia.hpp.

◆ inertia() [1/2]

template<class Derived >

Symmetric3& pinocchio::InertiaBase< Derived >::inertia ( )

inline

Definition at line 57 of file spatial/inertia.hpp.

◆ inertia() [2/2]

template<class Derived >

const Symmetric3& pinocchio::InertiaBase< Derived >::inertia ( ) const

inline

Definition at line 53 of file spatial/inertia.hpp.

◆ inverse() [1/2]

template<class Derived >

Matrix6 pinocchio::InertiaBase< Derived >::inverse ( ) const

inline

Definition at line 81 of file spatial/inertia.hpp.

◆ inverse() [2/2]

template<class Derived >

template<typename Matrix6Like >

void pinocchio::InertiaBase< Derived >::inverse ( const Eigen::MatrixBase< Matrix6Like > & mat ) const

inline

Definition at line 77 of file spatial/inertia.hpp.

◆ isApprox()

template<class Derived >

bool pinocchio::InertiaBase< Derived >::isApprox	(	const Derived &	other,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Definition at line 196 of file spatial/inertia.hpp.

◆ isZero()

template<class Derived >

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

inline

Definition at line 203 of file spatial/inertia.hpp.

◆ ivx() [1/2]

template<class Derived >

template<typename MotionDerived >

Matrix6 pinocchio::InertiaBase< Derived >::ivx ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 176 of file spatial/inertia.hpp.

◆ ivx() [2/2]

template<class Derived >

template<typename MotionDerived , typename M6 >

static void pinocchio::InertiaBase< Derived >::ivx	(	const MotionDense< MotionDerived > &	v,
		const Derived &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ .

Parameters

[in]	v	The spatial velocity of the frame supporting the inertia.
[in]	I	The spatial inertia in motion.
[out]	Iout	The time derivative of the inertia I.

Definition at line 169 of file spatial/inertia.hpp.

◆ lever() [1/2]

template<class Derived >

Vector3& pinocchio::InertiaBase< Derived >::lever ( )

inline

Definition at line 49 of file spatial/inertia.hpp.

◆ lever() [2/2]

template<class Derived >

const Vector3& pinocchio::InertiaBase< Derived >::lever ( ) const

inline

Definition at line 45 of file spatial/inertia.hpp.

◆ mass() [1/2]

template<class Derived >

Scalar& pinocchio::InertiaBase< Derived >::mass ( )

inline

Definition at line 41 of file spatial/inertia.hpp.

◆ mass() [2/2]

template<class Derived >

Scalar pinocchio::InertiaBase< Derived >::mass ( ) const

inline

Definition at line 37 of file spatial/inertia.hpp.

◆ matrix() [1/2]

template<class Derived >

Matrix6 pinocchio::InertiaBase< Derived >::matrix ( ) const

inline

Definition at line 67 of file spatial/inertia.hpp.

◆ matrix() [2/2]

template<class Derived >

template<typename Matrix6Like >

void pinocchio::InertiaBase< Derived >::matrix ( const Eigen::MatrixBase< Matrix6Like > & mat ) const

inline

Definition at line 63 of file spatial/inertia.hpp.

◆ operator Matrix6()

template<class Derived >

pinocchio::InertiaBase< Derived >::operator Matrix6 ( ) const

inline

Definition at line 71 of file spatial/inertia.hpp.

◆ operator!=()

template<class Derived >

bool pinocchio::InertiaBase< Derived >::operator!= ( const Derived & other ) const

inline

Definition at line 94 of file spatial/inertia.hpp.

◆ operator*()

template<class Derived >

template<typename MotionDerived >

ForceTpl<typename traits<MotionDerived>::Scalar, traits<MotionDerived>::Options> pinocchio::InertiaBase< Derived >::operator* ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 118 of file spatial/inertia.hpp.

◆ operator+()

template<class Derived >

Derived pinocchio::InertiaBase< Derived >::operator+ ( const Derived & Yb ) const

inline

Definition at line 103 of file spatial/inertia.hpp.

◆ operator+=()

template<class Derived >

Derived& pinocchio::InertiaBase< Derived >::operator+= ( const Derived & Yb )

inline

Definition at line 99 of file spatial/inertia.hpp.

◆ operator-()

template<class Derived >

Derived pinocchio::InertiaBase< Derived >::operator- ( const Derived & Yb ) const

inline

Definition at line 111 of file spatial/inertia.hpp.

◆ operator-=()

template<class Derived >

Derived& pinocchio::InertiaBase< Derived >::operator-= ( const Derived & Yb )

inline

Definition at line 107 of file spatial/inertia.hpp.

◆ operator=()

template<class Derived >

Derived& pinocchio::InertiaBase< Derived >::operator= ( const Derived & clone )

inline

Definition at line 86 of file spatial/inertia.hpp.

◆ operator==()

template<class Derived >

bool pinocchio::InertiaBase< Derived >::operator== ( const Derived & other ) const

inline

Definition at line 90 of file spatial/inertia.hpp.

◆ se3Action()

template<class Derived >

template<typename S2 , int O2>

Derived pinocchio::InertiaBase< Derived >::se3Action ( const SE3Tpl< S2, O2 > & M ) const

inline

aI = aXb.act(bI)

Definition at line 210 of file spatial/inertia.hpp.

◆ se3ActionInverse()

template<class Derived >

template<typename S2 , int O2>

Derived pinocchio::InertiaBase< Derived >::se3ActionInverse ( const SE3Tpl< S2, O2 > & M ) const

inline

bI = aXb.actInv(aI)

Definition at line 217 of file spatial/inertia.hpp.

◆ setIdentity()

template<class Derived >

void pinocchio::InertiaBase< Derived >::setIdentity ( )

inline

Definition at line 187 of file spatial/inertia.hpp.

◆ setRandom()

template<class Derived >

void pinocchio::InertiaBase< Derived >::setRandom ( )

inline

Definition at line 191 of file spatial/inertia.hpp.

◆ setZero()

template<class Derived >

void pinocchio::InertiaBase< Derived >::setZero ( )

inline

Definition at line 183 of file spatial/inertia.hpp.

◆ SPATIAL_TYPEDEF_TEMPLATE()

template<class Derived >

pinocchio::InertiaBase< Derived >::SPATIAL_TYPEDEF_TEMPLATE ( Derived )

◆ variation()

template<class Derived >

template<typename MotionDerived >

Matrix6 pinocchio::InertiaBase< Derived >::variation ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 130 of file spatial/inertia.hpp.

◆ vtiv()

template<class Derived >

template<typename MotionDerived >

Scalar pinocchio::InertiaBase< Derived >::vtiv ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 124 of file spatial/inertia.hpp.

◆ vxi() [1/2]

template<class Derived >

template<typename MotionDerived >

Matrix6 pinocchio::InertiaBase< Derived >::vxi ( const MotionDense< MotionDerived > & v ) const

inline

Definition at line 152 of file spatial/inertia.hpp.

◆ vxi() [2/2]

template<class Derived >

template<typename MotionDerived , typename M6 >

static void pinocchio::InertiaBase< Derived >::vxi	(	const MotionDense< MotionDerived > &	v,
		const Derived &	I,
		const Eigen::MatrixBase< M6 > &	Iout
	)

inlinestatic

Time variation operator. It computes the time derivative of an inertia I corresponding to the formula $\dot{I} = v \times^{*} I$ .

Parameters

[in]	v	The spatial velocity of the frame supporting the inertia.
[in]	I	The spatial inertia in motion.
[out]	Iout	The time derivative of the inertia I.

Definition at line 145 of file spatial/inertia.hpp.

Friends And Related Function Documentation

◆ operator<<

template<class Derived >

std::ostream& operator<<	(	std::ostream &	os,
		const InertiaBase< Derived > &	X
	)

friend

Definition at line 226 of file spatial/inertia.hpp.

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

spatial/inertia.hpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class Derived> struct pinocchio::InertiaBase< Derived >

Member Function Documentation

◆ const_cast_derived()

◆ derived() [1/2]

◆ derived() [2/2]

◆ disp()

◆ inertia() [1/2]

◆ inertia() [2/2]

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ isApprox()

◆ isZero()

◆ ivx() [1/2]

◆ ivx() [2/2]

◆ lever() [1/2]

◆ lever() [2/2]

◆ mass() [1/2]

◆ mass() [2/2]

◆ matrix() [1/2]

◆ matrix() [2/2]

◆ operator Matrix6()

◆ operator!=()

◆ operator*()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator=()

◆ operator==()

◆ se3Action()

◆ se3ActionInverse()

◆ setIdentity()

◆ setRandom()

◆ setZero()

◆ SPATIAL_TYPEDEF_TEMPLATE()

◆ variation()

◆ vtiv()

◆ vxi() [1/2]

◆ vxi() [2/2]

Friends And Related Function Documentation

◆ operator<<

template<class Derived>
struct pinocchio::InertiaBase< Derived >