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5 #ifndef __pinocchio_force_dense_hpp__
6 #define __pinocchio_force_dense_hpp__
11 template<
typename Derived>
17 template<
typename Derived,
typename MotionDerived>
23 template<
typename Derived>
36 using Base::operator=;
67 EIGEN_STATIC_ASSERT_VECTOR_ONLY(V6); assert(
v.size() == 6);
68 linear() =
v.template segment<3>(LINEAR);
69 angular() =
v.template segment<3>(ANGULAR);
102 template<
typename M1>
106 template<
typename OtherScalar>
107 ForcePlain
__mult__(
const OtherScalar & alpha)
const
110 template<
typename OtherScalar>
111 ForcePlain
__div__(
const OtherScalar & alpha)
const
112 {
return derived().__mult__((OtherScalar)(1)/alpha); }
114 template<
typename F1>
118 template<
typename M1,
typename M2>
125 template<
typename M1>
133 template<
typename M2>
135 {
return derived().isApprox_impl(f, prec);}
137 template<
typename D2>
148 template<
typename S2,
int O2,
typename D2>
156 template<
typename S2,
int O2>
164 template<
typename S2,
int O2,
typename D2>
171 template<
typename S2,
int O2>
182 <<
" f = " <<
linear().transpose () << std::endl
183 <<
"tau = " <<
angular().transpose () << std::endl;
192 template<
typename F1>
199 #endif // ifndef __pinocchio_force_dense_hpp__
bool isEqual_impl(const ForceBase< D2 > &other) const
bool isZero_impl(const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
ConstLinearType linear() const
Return the linear part of the force vector.
ForcePlain operator-() const
ForcePlain __opposite__() const
ConstLinearType linear() const
Return the linear part of the force vector.
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType operator*(const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint)
 
FORCE_TYPEDEF_TPL(Derived)
ForcePlain se3Action_impl(const SE3Tpl< S2, O2 > &m) const
Base interface for forces representation.
bool isApprox_impl(const ForceDense< D2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
ForcePlain __minus__(const ForceDense< M1 > &v) const
bool isApprox(const ForceDense< M2 > &f, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Derived & operator+=(const ForceBase< F1 > &f)
void se3ActionInverse_impl(const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
Return type of the ation of a Motion onto an object of type D.
ConstLinearType linear() const
traits< Derived >::ForceRefType ForceRefType
ForceBase< Derived > Base
ForcePlain operator+(const ForceDense< F1 > &f) const
ForcePlain __plus__(const ForceDense< M1 > &v) const
ForcePlain motionAction(const MotionDense< M1 > &v) const
Derived & __pequ__(const ForceDense< M1 > &v)
Derived & operator=(const Eigen::MatrixBase< V6 > &v)
ForcePlain operator-(const ForceDense< F1 > &f) const
void se3Action_impl(const SE3Tpl< S2, O2 > &m, ForceDense< D2 > &f) const
Derived & setFrom(const ForceDense< D2 > &other)
void disp_impl(std::ostream &os) const
Derived & operator-=(const ForceDense< M1 > &v)
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
MotionAlgebraAction< Derived, MotionDerived >::ReturnType ReturnType
bool isZero(const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Derived & __mequ__(const ForceDense< M1 > &v)
ForcePlain __mult__(const OtherScalar &alpha) const
Scalar dot(const MotionDense< F1 > &phi) const
Derived & operator+=(const ForceDense< F1 > &f)
ForcePlain __div__(const OtherScalar &alpha) const
ForcePlain se3ActionInverse_impl(const SE3Tpl< S2, O2 > &m) const
Common traits structure to fully define base classes for CRTP.
bool isApprox(const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
ConstAngularType angular() const
Return the angular part of the force vector.
void motionAction(const MotionDense< M1 > &v, ForceDense< M2 > &fout) const
SE3GroupAction< Derived >::ReturnType ReturnType
Derived & operator=(const ForceDense< D2 > &other)
ConstAngularType angular() const
Return the angular part of the force vector.
ConstAngularType angular() const
bool isEqual_impl(const ForceDense< D2 > &other) const
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:43:58