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=.