pinocchio::ForceDense< Derived > Class Template Reference

#include <casadi.hpp>

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...
Derived &	operator= (const ForceDense &other)
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 &	set (const ForceDense< D2 > &other)
Derived &	setRandom ()
Derived &	setZero ()

Protected Member Functions
	ForceDense ()
	ForceDense (const ForceDense &)=delete

Detailed Description

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

Definition at line 34 of file context/casadi.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.

Constructor & Destructor Documentation

ForceDense() [1/2]

template<typename Derived >

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

inlineprotected

Definition at line 258 of file force-dense.hpp.

ForceDense() [2/2]

template<typename Derived >

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

protecteddelete

Member Function Documentation

__div__()

template<typename Derived >

template<typename OtherScalar >

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

inline

Definition at line 166 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 152 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 138 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 160 of file force-dense.hpp.

__opposite__()

template<typename Derived >

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

inline

Definition at line 126 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 144 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 132 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 63 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 47 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 82 of file force-base.hpp.

derived() [1/2]

template<typename Derived >

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

inline

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

derived() [2/2]

template<typename Derived >

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

inline

Definition at line 32 of file force-base.hpp.

disp_impl()

template<typename Derived >

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

inline

Definition at line 245 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 172 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 148 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 193 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 201 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 58 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 52 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 158 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 208 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 69 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 57 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 95 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 185 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 178 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 98 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 114 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 109 of file force-dense.hpp.

operator-() [1/2]

template<typename Derived >

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

inline

Definition at line 93 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 103 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 121 of file force-dense.hpp.

operator=() [1/4]

template<typename Derived >

template<typename V6 >

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

inline

Definition at line 84 of file force-dense.hpp.

operator=() [2/4]

template<typename Derived >

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

inline

Copies the Derived Force into *this.

Returns

a reference to *this

Definition at line 166 of file force-base.hpp.

operator=() [3/4]

template<typename Derived >

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

inline

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

operator=() [4/4]

template<typename Derived >

template<typename D2 >

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

inline

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

ref()

template<typename Derived >

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

inline

Returns

a ForceRef on this.

Definition at line 252 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 222 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 214 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 238 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 230 of file force-dense.hpp.

set()

template<typename Derived >

template<typename D2 >

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

inline

Definition at line 76 of file force-dense.hpp.

setRandom()

template<typename Derived >

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

inline

Definition at line 44 of file force-dense.hpp.

setZero()

template<typename Derived >

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

inline

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

---

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

• context/casadi.hpp
• force-dense.hpp