A structure representing a pseudo inertia matrix. More...

#include <fwd.hpp>

Public Types
enum	{ Options = _Options }

typedef LogCholeskyParametersTpl< Scalar, Options >	LogCholeskyParameters

typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3

typedef Eigen::Matrix< Scalar, 4, 4, Options >	Matrix4

typedef _Scalar	Scalar

typedef Eigen::Matrix< Scalar, 10, 1, Options >	Vector10

typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3

Public Member Functions
template<typename NewScalar >
PseudoInertiaTpl< NewScalar, Options >	cast () const

void	disp_impl (std::ostream &os) const

	PseudoInertiaTpl (Scalar mass, const Vector3 &h, const Matrix3 &sigma)

Vector10	toDynamicParameters () const
	Converts the PseudoInertiaTpl object to dynamic parameters. More...

InertiaTpl< Scalar, Options >	toInertia () const
	Converts the PseudoInertiaTpl object to an InertiaTpl object. More...

Matrix4	toMatrix () const
	Converts the PseudoInertiaTpl object to a 4x4 matrix. More...

Static Public Member Functions
template<typename Vector10Like >
static PseudoInertiaTpl	FromDynamicParameters (const Eigen::MatrixBase< Vector10Like > &dynamic_params)
	Constructs a PseudoInertiaTpl object from dynamic parameters. More...

static PseudoInertiaTpl	FromInertia (const InertiaTpl< Scalar, Options > &inertia)
	Constructs a PseudoInertiaTpl object from an InertiaTpl object. More...

static PseudoInertiaTpl	FromLogCholeskyParameters (const LogCholeskyParameters &log_cholesky)
	Constructs a PseudoInertiaTpl object from log Cholesky parameters. More...

static PseudoInertiaTpl	FromMatrix (const Matrix4 &pseudo_inertia)
	Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix. More...

Public Attributes
Vector3	h
	Vector part of the pseudo inertia. More...

Scalar	mass
	Mass of the pseudo inertia. More...

Matrix3	sigma
	3x3 matrix part of the pseudo inertia More...

Friends
std::ostream &	operator<< (std::ostream &os, const PseudoInertiaTpl &pi)

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::PseudoInertiaTpl< _Scalar, _Options >

A structure representing a pseudo inertia matrix.

References:

Wensing, Patrick M., Sangbae Kim, and Jean-Jacques E. Slotine. "Linear matrix inequalities for physically consistent inertial parameter identification: A statistical perspective on the mass distribution." IEEE Robotics and Automation Letters 3.1 (2017): 60-67.

Definition at line 62 of file spatial/fwd.hpp.

Member Typedef Documentation

◆ LogCholeskyParameters

template<typename _Scalar , int _Options>

typedef LogCholeskyParametersTpl<Scalar, Options> pinocchio::PseudoInertiaTpl< _Scalar, _Options >::LogCholeskyParameters

Definition at line 954 of file spatial/inertia.hpp.

◆ Matrix3

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 3, 3, Options> pinocchio::PseudoInertiaTpl< _Scalar, _Options >::Matrix3

Definition at line 952 of file spatial/inertia.hpp.

◆ Matrix4

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 4, 4, Options> pinocchio::PseudoInertiaTpl< _Scalar, _Options >::Matrix4

Definition at line 950 of file spatial/inertia.hpp.

◆ Scalar

template<typename _Scalar , int _Options>

typedef _Scalar pinocchio::PseudoInertiaTpl< _Scalar, _Options >::Scalar

Definition at line 945 of file spatial/inertia.hpp.

◆ Vector10

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 10, 1, Options> pinocchio::PseudoInertiaTpl< _Scalar, _Options >::Vector10

Definition at line 953 of file spatial/inertia.hpp.

◆ Vector3

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 3, 1, Options> pinocchio::PseudoInertiaTpl< _Scalar, _Options >::Vector3

Definition at line 951 of file spatial/inertia.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Enumerator
Options

Definition at line 946 of file spatial/inertia.hpp.

Constructor & Destructor Documentation

◆ PseudoInertiaTpl()

template<typename _Scalar , int _Options>

pinocchio::PseudoInertiaTpl< _Scalar, _Options >::PseudoInertiaTpl	(	Scalar	mass,
		const Vector3 &	h,
		const Matrix3 &	sigma
	)

inline

Definition at line 960 of file spatial/inertia.hpp.

Member Function Documentation

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

PseudoInertiaTpl<NewScalar, Options> pinocchio::PseudoInertiaTpl< _Scalar, _Options >::cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 1072 of file spatial/inertia.hpp.

◆ disp_impl()

template<typename _Scalar , int _Options>

void pinocchio::PseudoInertiaTpl< _Scalar, _Options >::disp_impl ( std::ostream & os ) const

inline

Definition at line 1079 of file spatial/inertia.hpp.

◆ FromDynamicParameters()

template<typename _Scalar , int _Options>

template<typename Vector10Like >

static PseudoInertiaTpl pinocchio::PseudoInertiaTpl< _Scalar, _Options >::FromDynamicParameters ( const Eigen::MatrixBase< Vector10Like > & dynamic_params )

inlinestatic

Constructs a PseudoInertiaTpl object from dynamic parameters.

Parameters

dynamic_params A 10-dimensional vector of dynamic parameters.

Returns: A PseudoInertiaTpl object.

Definition at line 1001 of file spatial/inertia.hpp.

◆ FromInertia()

template<typename _Scalar , int _Options>

static PseudoInertiaTpl pinocchio::PseudoInertiaTpl< _Scalar, _Options >::FromInertia ( const InertiaTpl< Scalar, Options > & inertia )

inlinestatic

Constructs a PseudoInertiaTpl object from an InertiaTpl object.

Parameters

inertia An InertiaTpl object.

Returns: A PseudoInertiaTpl object.

Definition at line 1043 of file spatial/inertia.hpp.

◆ FromLogCholeskyParameters()

template<typename _Scalar , int _Options>

static PseudoInertiaTpl pinocchio::PseudoInertiaTpl< _Scalar, _Options >::FromLogCholeskyParameters ( const LogCholeskyParameters & log_cholesky )

inlinestatic

Constructs a PseudoInertiaTpl object from log Cholesky parameters.

Parameters

log_cholesky A 10-dimensional vector of log Cholesky parameters.

Returns: A PseudoInertiaTpl object.

Definition at line 1064 of file spatial/inertia.hpp.

◆ FromMatrix()

template<typename _Scalar , int _Options>

static PseudoInertiaTpl pinocchio::PseudoInertiaTpl< _Scalar, _Options >::FromMatrix ( const Matrix4 & pseudo_inertia )

inlinestatic

Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix.

Parameters

pseudo_inertia A 4x4 pseudo inertia matrix.

Returns: A PseudoInertiaTpl object.

Definition at line 986 of file spatial/inertia.hpp.

◆ toDynamicParameters()

template<typename _Scalar , int _Options>

Vector10 pinocchio::PseudoInertiaTpl< _Scalar, _Options >::toDynamicParameters ( ) const

inline

Converts the PseudoInertiaTpl object to dynamic parameters.

Returns: A 10-dimensional vector of dynamic parameters.

Definition at line 1021 of file spatial/inertia.hpp.

◆ toInertia()

template<typename _Scalar , int _Options>

InertiaTpl<Scalar, Options> pinocchio::PseudoInertiaTpl< _Scalar, _Options >::toInertia ( ) const

inline

Converts the PseudoInertiaTpl object to an InertiaTpl object.

Returns: An InertiaTpl object.

Definition at line 1053 of file spatial/inertia.hpp.

◆ toMatrix()

template<typename _Scalar , int _Options>

Matrix4 pinocchio::PseudoInertiaTpl< _Scalar, _Options >::toMatrix ( ) const

inline

Converts the PseudoInertiaTpl object to a 4x4 matrix.

Returns: A 4x4 pseudo inertia matrix.

Definition at line 971 of file spatial/inertia.hpp.

Friends And Related Function Documentation

◆ operator<<

template<typename _Scalar , int _Options>

std::ostream& operator<<	(	std::ostream &	os,
		const PseudoInertiaTpl< _Scalar, _Options > &	pi
	)

friend

Definition at line 1087 of file spatial/inertia.hpp.

Member Data Documentation

◆ h

template<typename _Scalar , int _Options>

Vector3 pinocchio::PseudoInertiaTpl< _Scalar, _Options >::h

Vector part of the pseudo inertia.

Definition at line 957 of file spatial/inertia.hpp.

◆ mass

template<typename _Scalar , int _Options>

Scalar pinocchio::PseudoInertiaTpl< _Scalar, _Options >::mass

Mass of the pseudo inertia.

Definition at line 956 of file spatial/inertia.hpp.

◆ sigma

template<typename _Scalar , int _Options>

Matrix3 pinocchio::PseudoInertiaTpl< _Scalar, _Options >::sigma

3x3 matrix part of the pseudo inertia

Definition at line 958 of file spatial/inertia.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

template<typename _Scalar, int _Options> struct pinocchio::PseudoInertiaTpl< _Scalar, _Options >

Member Typedef Documentation

◆ LogCholeskyParameters

◆ Matrix3

◆ Matrix4

◆ Scalar

◆ Vector10

◆ Vector3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ PseudoInertiaTpl()

Member Function Documentation

◆ cast()

◆ disp_impl()

◆ FromDynamicParameters()

◆ FromInertia()

◆ FromLogCholeskyParameters()

◆ FromMatrix()

◆ toDynamicParameters()

◆ toInertia()

◆ toMatrix()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ h

◆ mass

◆ sigma

template<typename _Scalar, int _Options>
struct pinocchio::PseudoInertiaTpl< _Scalar, _Options >