Template Class ForceDense

Inheritance Relationships

Base Type

Derived Type

Class Documentation

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

Subclassed by pinocchio::ForceTpl< Scalar, Options >

Public Types

typedef ForceBase<Derived> Base
typedef traits<Derived>::ForceRefType ForceRefType

Public Functions

FORCE_TYPEDEF_TPL(Derived)
inline Derived &setZero()
inline Derived &setRandom()
template<typename D2>
inline bool isEqual_impl(const ForceDense<D2> &other) const
template<typename D2>
inline bool isEqual_impl(const ForceBase<D2> &other) const
template<typename D2>
inline Derived &operator=(const ForceDense<D2> &other)
inline Derived &operator=(const ForceDense &other)
template<typename D2>
inline Derived &set(const ForceDense<D2> &other)
template<typename V6>
inline Derived &operator=(const Eigen::MatrixBase<V6> &v)
inline ForcePlain operator-() const
template<typename F1>
inline ForcePlain operator+(const ForceDense<F1> &f) const
template<typename F1>
inline ForcePlain operator-(const ForceDense<F1> &f) const
template<typename F1>
inline Derived &operator+=(const ForceDense<F1> &f)
template<typename F1>
inline Derived &operator+=(const ForceBase<F1> &f)
template<typename M1>
inline Derived &operator-=(const ForceDense<M1> &v)
inline ForcePlain __opposite__() const
template<typename M1>
inline ForcePlain __plus__(const ForceDense<M1> &v) const
template<typename M1>
inline ForcePlain __minus__(const ForceDense<M1> &v) const
template<typename M1>
inline Derived &__pequ__(const ForceDense<M1> &v)
template<typename M1>
inline Derived &__mequ__(const ForceDense<M1> &v)
template<typename OtherScalar>
inline ForcePlain __mult__(const OtherScalar &alpha) const
template<typename OtherScalar>
inline ForcePlain __div__(const OtherScalar &alpha) const
template<typename F1>
inline Scalar dot(const MotionDense<F1> &phi) const
template<typename M1, typename M2>
inline void motionAction(const MotionDense<M1> &v, ForceDense<M2> &fout) const
template<typename M1>
inline ForcePlain motionAction(const MotionDense<M1> &v) const
template<typename M2>
inline bool isApprox(const ForceDense<M2> &f, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
template<typename D2>
inline bool isApprox_impl(const ForceDense<D2> &f, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
inline bool isZero_impl(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
template<typename S2, int O2, typename D2>
inline void se3Action_impl(const SE3Tpl<S2, O2> &m, ForceDense<D2> &f) const
template<typename S2, int O2>
inline ForcePlain se3Action_impl(const SE3Tpl<S2, O2> &m) const
template<typename S2, int O2, typename D2>
inline void se3ActionInverse_impl(const SE3Tpl<S2, O2> &m, ForceDense<D2> &f) const
template<typename S2, int O2>
inline ForcePlain se3ActionInverse_impl(const SE3Tpl<S2, O2> &m) const
inline void disp_impl(std::ostream &os) const
inline ForceRefType ref()
Returns:

a ForceRef on this.

inline ConstAngularType angular() const

Return the angular part of the force vector.

Returns:

The 3D vector associated to the angular part of the 6D force vector

inline AngularType angular()

Return the angular part of the force vector.

Returns:

The 3D vector associated to the angular part of the 6D force vector

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

Set the angular part of the force vector.

Template Parameters:

V3Like – A vector 3 like type.

Parameters:

n[in]

inline Derived &derived()
inline const Derived &derived() const
inline bool isApprox(const Derived &other, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
Returns:

true if *this is approximately equal to other, within the precision given by prec.

inline bool isZero(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
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.

inline ConstLinearType linear() const

Return the linear part of the force vector.

Returns:

The 3D vector associated to the linear part of the 6D force vector

inline LinearType linear()

Return the linear part of the force vector.

Returns:

The 3D vector associated to the linear part of the 6D force vector

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

Set the linear part of the force vector.

Template Parameters:

V3Like – A vector 3 like type.

Parameters:

f[in]

inline Derived &operator=(const ForceBase<Derived> &other)

Copies the Derived Force into *this.

Returns:

a reference to *this

Protected Functions

inline ForceDense()
ForceDense(const ForceDense&) = delete