pinocchio::ForceSetTpl< _Scalar, _Options > Class Template Reference

#include <force-set.hpp>

Classes
struct	Block

Public Types
enum	{ Options = _Options }
typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options >	Matrix3x
typedef Eigen::Matrix< Scalar, 6, 6, Options >	Matrix6
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	Matrix6x
typedef _Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3
typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3
typedef Eigen::Matrix< Scalar, 6, 1, Options >	Vector6

Public Member Functions
const Matrix3x &	angular () const
Block	block (const int &idx, const int &len)
	ForceSetTpl (const int &ncols)
	ForceSetTpl (const Matrix3x &linear, const Matrix3x &angular)
const Matrix3x &	linear () const
Matrix6x	matrix () const
	operator Matrix6x () const
ForceSetTpl	se3Action (const SE3 &m) const
	af = aXb.act(bf) More...
ForceSetTpl	se3ActionInverse (const SE3 &m) const
	bf = aXb.actInv(af) More...

Private Attributes
Matrix3x	m_f
Matrix3x	m_n
int	size

Friends
std::ostream &	operator<< (std::ostream &os, const ForceSetTpl &phi)

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::ForceSetTpl< _Scalar, _Options >

Definition at line 14 of file force-set.hpp.

Member Typedef Documentation

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar,3,3,Options> pinocchio::ForceSetTpl< _Scalar, _Options >::Matrix3

Definition at line 20 of file force-set.hpp.

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar,3,Eigen::Dynamic,Options> pinocchio::ForceSetTpl< _Scalar, _Options >::Matrix3x

Definition at line 25 of file force-set.hpp.

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar,6,6,Options> pinocchio::ForceSetTpl< _Scalar, _Options >::Matrix6

Definition at line 22 of file force-set.hpp.

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> pinocchio::ForceSetTpl< _Scalar, _Options >::Matrix6x

Definition at line 26 of file force-set.hpp.

template<typename _Scalar , int _Options>

typedef _Scalar pinocchio::ForceSetTpl< _Scalar, _Options >::Scalar

Definition at line 17 of file force-set.hpp.

template<typename _Scalar , int _Options>

typedef SE3Tpl<Scalar,Options> pinocchio::ForceSetTpl< _Scalar, _Options >::SE3

Definition at line 23 of file force-set.hpp.

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar,3,1,Options> pinocchio::ForceSetTpl< _Scalar, _Options >::Vector3

Definition at line 19 of file force-set.hpp.

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar,6,1,Options> pinocchio::ForceSetTpl< _Scalar, _Options >::Vector6

Definition at line 21 of file force-set.hpp.

Member Enumeration Documentation

template<typename _Scalar , int _Options>

anonymous enum

Enumerator
Options

Definition at line 18 of file force-set.hpp.

Constructor & Destructor Documentation

template<typename _Scalar , int _Options>

pinocchio::ForceSetTpl< _Scalar, _Options >::ForceSetTpl ( const int &  ncols )

inline

Definition at line 30 of file force-set.hpp.

template<typename _Scalar , int _Options>

pinocchio::ForceSetTpl< _Scalar, _Options >::ForceSetTpl ( const Matrix3x &  linear, const Matrix3x &  angular  )

inline

Definition at line 32 of file force-set.hpp.

Member Function Documentation

template<typename _Scalar , int _Options>

const Matrix3x& pinocchio::ForceSetTpl< _Scalar, _Options >::angular ( ) const

inline

Definition at line 47 of file force-set.hpp.

template<typename _Scalar , int _Options>

Block pinocchio::ForceSetTpl< _Scalar, _Options >::block ( const int &  idx, const int &  len  )

inline

Definition at line 140 of file force-set.hpp.

template<typename _Scalar , int _Options>

const Matrix3x& pinocchio::ForceSetTpl< _Scalar, _Options >::linear ( ) const

inline

Definition at line 46 of file force-set.hpp.

template<typename _Scalar , int _Options>

Matrix6x pinocchio::ForceSetTpl< _Scalar, _Options >::matrix ( ) const

inline

Definition at line 36 of file force-set.hpp.

template<typename _Scalar , int _Options>

pinocchio::ForceSetTpl< _Scalar, _Options >::operator Matrix6x ( ) const

inline

Definition at line 43 of file force-set.hpp.

template<typename _Scalar , int _Options>

ForceSetTpl pinocchio::ForceSetTpl< _Scalar, _Options >::se3Action ( const SE3 &  m ) const

inline

af = aXb.act(bf)

Definition at line 50 of file force-set.hpp.

template<typename _Scalar , int _Options>

ForceSetTpl pinocchio::ForceSetTpl< _Scalar, _Options >::se3ActionInverse ( const SE3 &  m ) const

inline

bf = aXb.actInv(af)

Definition at line 57 of file force-set.hpp.

Friends And Related Function Documentation

template<typename _Scalar , int _Options>

std::ostream& operator<< ( std::ostream &  os, const ForceSetTpl< _Scalar, _Options > &  phi  )

friend

Definition at line 64 of file force-set.hpp.

Member Data Documentation

template<typename _Scalar , int _Options>

Matrix3x pinocchio::ForceSetTpl< _Scalar, _Options >::m_f

private

Definition at line 153 of file force-set.hpp.

template<typename _Scalar , int _Options>

Matrix3x pinocchio::ForceSetTpl< _Scalar, _Options >::m_n

private

Definition at line 153 of file force-set.hpp.

template<typename _Scalar , int _Options>

int pinocchio::ForceSetTpl< _Scalar, _Options >::size

private

Definition at line 152 of file force-set.hpp.

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The documentation for this class was generated from the following file:

• force-set.hpp