Template Struct PseudoInertiaTpl

Struct Documentation

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:

enumerator Options
typedef _Scalar Scalar
typedef Eigen::Matrix<Scalar, 4, 4, Options> Matrix4
typedef Eigen::Matrix<Scalar, 3, 1, Options> Vector3
typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3
typedef Eigen::Matrix<Scalar, 10, 1, Options> Vector10
typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters

Public Functions

inline PseudoInertiaTpl(Scalar mass, const Vector3 &h, const Matrix3 &sigma)
inline Matrix4 toMatrix() const

Converts the PseudoInertiaTpl object to a 4x4 matrix.

Returns:

A 4x4 pseudo inertia matrix.

inline Vector10 toDynamicParameters() const

Converts the PseudoInertiaTpl object to dynamic parameters.

Returns:

A 10-dimensional vector of dynamic parameters.

inline InertiaTpl<Scalar, Options> toInertia() const

Converts the PseudoInertiaTpl object to an InertiaTpl object.

Returns:

An InertiaTpl object.

template<typename NewScalar>
inline PseudoInertiaTpl<NewScalar, Options> cast() const
Returns:

An expression of *this with the Scalar type casted to NewScalar.

inline void disp_impl(std::ostream &os) const

Public Members

Scalar mass

Mass of the pseudo inertia.

Vector3 h

Vector part of the pseudo inertia.

Matrix3 sigma

3x3 matrix part of the pseudo inertia

Public Static Functions

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.

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.

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.

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

inline friend std::ostream &operator<<(std::ostream &os, const PseudoInertiaTpl &pi)