Functions
pinocchio::motionSet Namespace Reference

Group motion actions. More...

Functions

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

Detailed Description

Group motion actions.

Function Documentation

◆ act() [1/2]

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 
)
static

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.

◆ act() [2/2]

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 
)
static

Default implementation with assignment operator=.

◆ inertiaAction() [1/2]

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 
)
static

Action of an Inertia matrix on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion.

◆ inertiaAction() [2/2]

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 
)
static

Default implementation with assignment operator=.

◆ motionAction() [1/2]

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 
)
static

Action of a motion on a set of motions, represented by a 6xN matrix whose columns represent a spatial motion.

◆ motionAction() [2/2]

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 
)
static

Default implementation with assignment operator=.

◆ se3Action() [1/2]

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 
)
static

SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion.

◆ se3Action() [2/2]

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 
)
static

Default implementation with assignment operator=.

◆ se3ActionInverse() [1/2]

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 
)
static

Inverse SE3 action on a set of motions, represented by a 6xN matrix whose column represent a spatial motion.

◆ se3ActionInverse() [2/2]

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 
)
static

Default implementation with assignment operator=.



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autogenerated on Fri Jun 23 2023 02:38:36