#include <fwd.hpp>

Public Member Functions
AngularType	angular ()

ConstAngularType	angular () const

template<typename V3Like >
void	angular (const Eigen::MatrixBase< V3Like > &w)

template<typename OtherSpatialType >
MotionAlgebraAction< OtherSpatialType, Derived >::ReturnType	cross (const OtherSpatialType &d) const

Derived &	derived ()

const Derived &	derived () const

void	disp (std::ostream &os) const

template<typename ForceDerived >
Scalar	dot (const ForceDense< ForceDerived > &f) 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

LinearType	linear ()

ConstLinearType	linear () const

template<typename V3Like >
void	linear (const Eigen::MatrixBase< V3Like > &v)

	MOTION_TYPEDEF_TPL (Derived)

	operator Matrix6 () const

	operator PlainReturnType () const

	operator Vector6 () const

template<typename M2 >
bool	operator!= (const MotionBase< M2 > &other) const

template<typename OtherScalar >
internal::RHSScalarMultiplication< Derived, OtherScalar >::ReturnType	operator* (const OtherScalar &alpha) const

Derived	operator+ (const MotionBase< Derived > &v) const

Derived &	operator+= (const MotionBase< Derived > &v)

Derived	operator- () const

Derived	operator- (const MotionBase< Derived > &v) const

Derived &	operator-= (const MotionBase< Derived > &v)

template<typename OtherScalar >
Derived	operator/ (const OtherScalar &alpha) const

template<typename M2 >
bool	operator== (const MotionBase< M2 > &other) const

PlainReturnType	plain () const

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const

void	setZero ()

ActionMatrixType	toActionMatrix () const

ActionMatrixType	toDualActionMatrix () const

HomogeneousMatrixType	toHomogeneousMatrix () const
	The homogeneous representation of the motion vector $\xi$ . More...

ToVectorReturnType	toVector ()

ToVectorConstReturnType	toVector () const

Friends
std::ostream &	operator<< (std::ostream &os, const MotionBase< Derived > &v)

Detailed Description

template<class Derived>
class pinocchio::MotionBase< Derived >

Definition at line 40 of file spatial/fwd.hpp.

Member Function Documentation

◆ angular() [1/3]

template<class Derived >

AngularType pinocchio::MotionBase< Derived >::angular ( )

inline

Definition at line 23 of file motion-base.hpp.

◆ angular() [2/3]

template<class Derived >

ConstAngularType pinocchio::MotionBase< Derived >::angular ( ) const

inline

Definition at line 21 of file motion-base.hpp.

◆ angular() [3/3]

template<class Derived >

template<typename V3Like >

void pinocchio::MotionBase< Derived >::angular ( const Eigen::MatrixBase< V3Like > & w )

inline

Definition at line 27 of file motion-base.hpp.

◆ cross()

template<class Derived >

template<typename OtherSpatialType >

MotionAlgebraAction<OtherSpatialType,Derived>::ReturnType pinocchio::MotionBase< Derived >::cross ( const OtherSpatialType & d ) const

inline

Definition at line 87 of file motion-base.hpp.

◆ derived() [1/2]

template<class Derived >

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

inline

Definition at line 18 of file motion-base.hpp.

◆ derived() [2/2]

template<class Derived >

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

inline

Definition at line 19 of file motion-base.hpp.

◆ disp()

template<class Derived >

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

inline

Definition at line 111 of file motion-base.hpp.

◆ dot()

template<class Derived >

template<typename ForceDerived >

Scalar pinocchio::MotionBase< Derived >::dot ( const ForceDense< ForceDerived > & f ) const

inline

Definition at line 109 of file motion-base.hpp.

◆ isApprox()

template<class Derived >

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

inline

Definition at line 92 of file motion-base.hpp.

◆ isZero()

template<class Derived >

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

inline

Definition at line 95 of file motion-base.hpp.

◆ linear() [1/3]

template<class Derived >

LinearType pinocchio::MotionBase< Derived >::linear ( )

inline

Definition at line 24 of file motion-base.hpp.

◆ linear() [2/3]

template<class Derived >

ConstLinearType pinocchio::MotionBase< Derived >::linear ( ) const

inline

Definition at line 22 of file motion-base.hpp.

◆ linear() [3/3]

template<class Derived >

template<typename V3Like >

void pinocchio::MotionBase< Derived >::linear ( const Eigen::MatrixBase< V3Like > & v )

inline

Definition at line 31 of file motion-base.hpp.

◆ MOTION_TYPEDEF_TPL()

template<class Derived >

pinocchio::MotionBase< Derived >::MOTION_TYPEDEF_TPL ( Derived )

◆ operator Matrix6()

template<class Derived >

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

inline

Definition at line 43 of file motion-base.hpp.

◆ operator PlainReturnType()

template<class Derived >

pinocchio::MotionBase< Derived >::operator PlainReturnType ( ) const

inline

Definition at line 34 of file motion-base.hpp.

◆ operator Vector6()

template<class Derived >

pinocchio::MotionBase< Derived >::operator Vector6 ( ) const

inline

Definition at line 39 of file motion-base.hpp.

◆ operator!=()

template<class Derived >

template<typename M2 >

bool pinocchio::MotionBase< Derived >::operator!= ( const MotionBase< M2 > & other ) const

inline

Definition at line 67 of file motion-base.hpp.

◆ operator*()

template<class Derived >

template<typename OtherScalar >

internal::RHSScalarMultiplication<Derived,OtherScalar>::ReturnType pinocchio::MotionBase< Derived >::operator* ( const OtherScalar & alpha ) const

inline

Definition at line 78 of file motion-base.hpp.

◆ operator+()

template<class Derived >

Derived pinocchio::MotionBase< Derived >::operator+ ( const MotionBase< Derived > & v ) const

inline

Definition at line 71 of file motion-base.hpp.

◆ operator+=()

template<class Derived >

Derived& pinocchio::MotionBase< Derived >::operator+= ( const MotionBase< Derived > & v )

inline

Definition at line 73 of file motion-base.hpp.

◆ operator-() [1/2]

template<class Derived >

Derived pinocchio::MotionBase< Derived >::operator- ( ) const

inline

Definition at line 70 of file motion-base.hpp.

◆ operator-() [2/2]

template<class Derived >

Derived pinocchio::MotionBase< Derived >::operator- ( const MotionBase< Derived > & v ) const

inline

Definition at line 72 of file motion-base.hpp.

◆ operator-=()

template<class Derived >

Derived& pinocchio::MotionBase< Derived >::operator-= ( const MotionBase< Derived > & v )

inline

Definition at line 74 of file motion-base.hpp.

◆ operator/()

template<class Derived >

template<typename OtherScalar >

Derived pinocchio::MotionBase< Derived >::operator/ ( const OtherScalar & alpha ) const

inline

Definition at line 82 of file motion-base.hpp.

◆ operator==()

template<class Derived >

template<typename M2 >

bool pinocchio::MotionBase< Derived >::operator== ( const MotionBase< M2 > & other ) const

inline

Definition at line 63 of file motion-base.hpp.

◆ plain()

template<class Derived >

PlainReturnType pinocchio::MotionBase< Derived >::plain ( ) const

inline

Definition at line 35 of file motion-base.hpp.

◆ se3Action()

template<class Derived >

template<typename S2 , int O2>

SE3GroupAction<Derived>::ReturnType pinocchio::MotionBase< Derived >::se3Action ( const SE3Tpl< S2, O2 > & m ) const

inline

Definition at line 100 of file motion-base.hpp.

◆ se3ActionInverse()

template<class Derived >

template<typename S2 , int O2>

SE3GroupAction<Derived>::ReturnType pinocchio::MotionBase< Derived >::se3ActionInverse ( const SE3Tpl< S2, O2 > & m ) const

inline

Definition at line 105 of file motion-base.hpp.

◆ setZero()

template<class Derived >

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

inline

Definition at line 60 of file motion-base.hpp.

◆ toActionMatrix()

template<class Derived >

ActionMatrixType pinocchio::MotionBase< Derived >::toActionMatrix ( ) const

inline

Definition at line 41 of file motion-base.hpp.

◆ toDualActionMatrix()

template<class Derived >

ActionMatrixType pinocchio::MotionBase< Derived >::toDualActionMatrix ( ) const

inline

Definition at line 42 of file motion-base.hpp.

◆ toHomogeneousMatrix()

template<class Derived >

HomogeneousMatrixType pinocchio::MotionBase< Derived >::toHomogeneousMatrix ( ) const

inline

The homogeneous representation of the motion vector $\xi$ .

With $\hat{\xi} = \left( \begin{array}{cc} \omega & v \\ 0 & 0 \\ \end{array} \right)$ ,

${}^a\dot{M}_b = \hat{\xi} {}^aM_b$

Note: This function is provided for completeness, but it is not the best way to use Motion quantities in terms of sparsity exploitation and general efficiency. For integration, the recommended way is to use Motion vectors along with the integrate function.

Definition at line 58 of file motion-base.hpp.

◆ toVector() [1/2]

template<class Derived >

ToVectorReturnType pinocchio::MotionBase< Derived >::toVector ( )

inline

Definition at line 38 of file motion-base.hpp.

◆ toVector() [2/2]

template<class Derived >

ToVectorConstReturnType pinocchio::MotionBase< Derived >::toVector ( ) const

inline

Definition at line 37 of file motion-base.hpp.

Friends And Related Function Documentation

◆ operator<<

template<class Derived >

std::ostream& operator<<	(	std::ostream &	os,
		const MotionBase< Derived > &	v
	)

friend

Definition at line 112 of file motion-base.hpp.

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

Public Member Functions

Friends

Detailed Description

template<class Derived> class pinocchio::MotionBase< Derived >

Member Function Documentation

◆ angular() [1/3]

◆ angular() [2/3]

◆ angular() [3/3]

◆ cross()

◆ derived() [1/2]

◆ derived() [2/2]

◆ disp()

◆ dot()

◆ isApprox()

◆ isZero()

◆ linear() [1/3]

◆ linear() [2/3]

◆ linear() [3/3]

◆ MOTION_TYPEDEF_TPL()

◆ operator Matrix6()

◆ operator PlainReturnType()

◆ operator Vector6()

◆ operator!=()

◆ operator*()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator==()

◆ plain()

◆ se3Action()

◆ se3ActionInverse()

◆ setZero()

◆ toActionMatrix()

◆ toDualActionMatrix()

◆ toHomogeneousMatrix()

◆ toVector() [1/2]

◆ toVector() [2/2]

Friends And Related Function Documentation

◆ operator<<

template<class Derived>
class pinocchio::MotionBase< Derived >