Template Struct PseudoInertiaTpl
Defined in File inertia.hpp
Struct Documentation
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template<typename _Scalar, int _Options>
struct PseudoInertiaTpl A structure representing a pseudo inertia matrix.
References:
Wensing, Patrick M., Sangbae Kim, and Jean-Jacques E. Slotine. “Linear matrix inequalities
for physically consistent inertial parameter identification: A statistical perspective on the
mass distribution.” IEEE Robotics and Automation Letters 3.1 (2017): 60-67.
Public Types
Values:
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enumerator Options
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enumerator Options
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typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters
Public Functions
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inline Matrix4 toMatrix() const
Converts the PseudoInertiaTpl object to a 4x4 matrix.
- Returns:
A 4x4 pseudo inertia matrix.
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inline Vector10 toDynamicParameters() const
Converts the PseudoInertiaTpl object to dynamic parameters.
- Returns:
A 10-dimensional vector of dynamic parameters.
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inline InertiaTpl<Scalar, Options> toInertia() const
Converts the PseudoInertiaTpl object to an InertiaTpl object.
- Returns:
An InertiaTpl object.
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template<typename NewScalar>
inline PseudoInertiaTpl<NewScalar, Options> cast() const - Returns:
An expression of *this with the Scalar type casted to NewScalar.
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inline void disp_impl(std::ostream &os) const
Public Members
Public Static Functions
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static inline PseudoInertiaTpl FromMatrix(const Matrix4 &pseudo_inertia)
Constructs a PseudoInertiaTpl object from a 4x4 pseudo inertia matrix.
- Parameters:
pseudo_inertia – A 4x4 pseudo inertia matrix.
- Returns:
A PseudoInertiaTpl object.
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template<typename Vector10Like>
static inline PseudoInertiaTpl FromDynamicParameters(const Eigen::MatrixBase<Vector10Like> &dynamic_params) Constructs a PseudoInertiaTpl object from dynamic parameters.
- Parameters:
dynamic_params – A 10-dimensional vector of dynamic parameters.
- Returns:
A PseudoInertiaTpl object.
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static inline PseudoInertiaTpl FromInertia(const InertiaTpl<Scalar, Options> &inertia)
Constructs a PseudoInertiaTpl object from an InertiaTpl object.
- Parameters:
inertia – An InertiaTpl object.
- Returns:
A PseudoInertiaTpl object.
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static inline PseudoInertiaTpl FromLogCholeskyParameters(const LogCholeskyParameters &log_cholesky)
Constructs a PseudoInertiaTpl object from log Cholesky parameters.
- Parameters:
log_cholesky – A 10-dimensional vector of log Cholesky parameters.
- Returns:
A PseudoInertiaTpl object.
Friends
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inline friend std::ostream &operator<<(std::ostream &os, const PseudoInertiaTpl &pi)