#include <fwd.hpp>

Classes
struct	AlphaSkewSquare

struct	SkewSquare

Public Types
enum	{ Options = _Options }

typedef Eigen::Matrix< Scalar, 2, 2, Options >	Matrix2

typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3

typedef Eigen::Matrix< Scalar, 3, 2, Options >	Matrix32

typedef _Scalar	Scalar

typedef Eigen::Matrix< Scalar, 3, 1, Options >	Vector3

typedef Eigen::Matrix< Scalar, 6, 1, Options >	Vector6

Public Member Functions
template<typename NewScalar >
Symmetric3Tpl< NewScalar, Options >	cast () const

const Vector6 &	data () const

Vector6 &	data ()

Matrix32	decomposeltI () const
	Computes L for a symmetric matrix A. More...

void	fill (const Scalar value)

bool	isApprox (const Symmetric3Tpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

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

Matrix3	matrix () const

	operator Matrix3 () const

bool	operator!= (const Symmetric3Tpl &other) const

const Scalar &	operator() (const int &i, const int &j) const

template<typename V3 >
Vector3	operator* (const Eigen::MatrixBase< V3 > &v) const

Symmetric3Tpl	operator+ (const Symmetric3Tpl &s2) const

Symmetric3Tpl	operator+ (const Matrix3 &S) const

Symmetric3Tpl &	operator+= (const Symmetric3Tpl &s2)

Symmetric3Tpl	operator- (const SkewSquare &v) const

Symmetric3Tpl	operator- (const AlphaSkewSquare &v) const

Symmetric3Tpl	operator- (const Matrix3 &S) const

Symmetric3Tpl &	operator-= (const SkewSquare &v)

Symmetric3Tpl &	operator-= (const AlphaSkewSquare &v)

bool	operator== (const Symmetric3Tpl &other) const

template<typename D >
Symmetric3Tpl	rotate (const Eigen::MatrixBase< D > &R) const

void	setIdentity ()

void	setRandom ()

void	setZero ()

template<typename Vector3 >
Matrix3	svx (const Eigen::MatrixBase< Vector3 > &v) const
	Performs the operation $M = S_{3} [v]_{\times}$ . More...

	Symmetric3Tpl ()

template<typename Sc , int Opt>
	Symmetric3Tpl (const Eigen::Matrix< Sc, 3, 3, Opt > &I)

	Symmetric3Tpl (const Vector6 &I)

	Symmetric3Tpl (const Scalar &a0, const Scalar &a1, const Scalar &a2, const Scalar &a3, const Scalar &a4, const Scalar &a5)

Scalar	vtiv (const Vector3 &v) const

template<typename Vector3 >
Matrix3	vxs (const Eigen::MatrixBase< Vector3 > &v) const
	Performs the operation $[v]_{\times} S$ . This operation is equivalent to applying the cross product of v on each column of S. More...

Static Public Member Functions
static Symmetric3Tpl	Identity ()

static Symmetric3Tpl	Random ()

static Symmetric3Tpl	RandomPositive ()

template<typename V3in , typename V3out >
static void	rhsMult (const Symmetric3Tpl &S3, const Eigen::MatrixBase< V3in > &vin, const Eigen::MatrixBase< V3out > &vout)

template<typename Vector3 , typename Matrix3 >
static void	svx (const Eigen::MatrixBase< Vector3 > &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase< Matrix3 > &M)
	Performs the operation $M = S_{3} [v]_{\times}$ . More...

template<typename Vector3 , typename Matrix3 >
static void	vxs (const Eigen::MatrixBase< Vector3 > &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase< Matrix3 > &M)
	Performs the operation $M = [v]_{\times} S_{3}$ . This operation is equivalent to applying the cross product of v on each column of S. More...

static Symmetric3Tpl	Zero ()

Protected Attributes
Vector6	m_data

Friends
AlphaSkewSquare	operator* (const Scalar &m, const SkewSquare &sk)

template<typename D >
Matrix3	operator- (const Symmetric3Tpl &S, const Eigen::MatrixBase< D > &M)

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::Symmetric3Tpl< _Scalar, _Options >

Definition at line 53 of file src/spatial/fwd.hpp.

Member Typedef Documentation

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar,2,2,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Matrix2

Definition at line 23 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar,3,3,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Matrix3

Definition at line 22 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar,3,2,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Matrix32

Definition at line 24 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

typedef _Scalar pinocchio::Symmetric3Tpl< _Scalar, _Options >::Scalar

Definition at line 18 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar,3,1,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Vector3

Definition at line 20 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar,6,1,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::Vector6

Definition at line 21 of file spatial/symmetric3.hpp.

Member Enumeration Documentation

template<typename _Scalar, int _Options>

anonymous enum

Enumerator
Options

Definition at line 19 of file spatial/symmetric3.hpp.

Constructor & Destructor Documentation

template<typename _Scalar, int _Options>

pinocchio::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl ( )

inline

Definition at line 29 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename Sc , int Opt>

pinocchio::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl ( const Eigen::Matrix< Sc, 3, 3, Opt > & I )

inlineexplicit

Definition at line 32 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

pinocchio::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl ( const Vector6 & I )

inlineexplicit

Definition at line 40 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

pinocchio::Symmetric3Tpl< _Scalar, _Options >::Symmetric3Tpl	(	const Scalar &	a0,
		const Scalar &	a1,
		const Scalar &	a2,
		const Scalar &	a3,
		const Scalar &	a4,
		const Scalar &	a5
	)

inline

Definition at line 42 of file spatial/symmetric3.hpp.

Member Function Documentation

template<typename _Scalar, int _Options>

template<typename NewScalar >

Symmetric3Tpl<NewScalar,Options> pinocchio::Symmetric3Tpl< _Scalar, _Options >::cast ( ) const

inline

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

Definition at line 453 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

const Vector6& pinocchio::Symmetric3Tpl< _Scalar, _Options >::data ( ) const

inline

Definition at line 160 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Vector6& pinocchio::Symmetric3Tpl< _Scalar, _Options >::data ( )

inline

Definition at line 161 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Matrix32 pinocchio::Symmetric3Tpl< _Scalar, _Options >::decomposeltI ( ) const

inline

Computes L for a symmetric matrix A.

Definition at line 403 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

void pinocchio::Symmetric3Tpl< _Scalar, _Options >::fill ( const Scalar value )

inline

Definition at line 80 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

static Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::Identity ( )

inlinestatic

Definition at line 63 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::Symmetric3Tpl< _Scalar, _Options >::isApprox	(	const Symmetric3Tpl< _Scalar, _Options > &	other,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Definition at line 73 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::Symmetric3Tpl< _Scalar, _Options >::isZero ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 77 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Matrix3 pinocchio::Symmetric3Tpl< _Scalar, _Options >::matrix ( ) const

inline

Definition at line 186 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator Matrix3 ( ) const

inline

Definition at line 194 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator!= ( const Symmetric3Tpl< _Scalar, _Options > & other ) const

inline

Definition at line 70 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

const Scalar& pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator()	(	const int &	i,
		const int &	j
	)		const

inline

Definition at line 377 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename V3 >

Vector3 pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator* ( const Eigen::MatrixBase< V3 > & v ) const

inline

Definition at line 358 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator+ ( const Symmetric3Tpl< _Scalar, _Options > & s2 ) const

inline

Definition at line 332 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator+ ( const Matrix3 & S ) const

inline

Definition at line 390 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl& pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator+= ( const Symmetric3Tpl< _Scalar, _Options > & s2 )

inline

Definition at line 337 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator- ( const SkewSquare & v ) const

inline

Definition at line 95 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator- ( const AlphaSkewSquare & v ) const

inline

Definition at line 142 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator- ( const Matrix3 & S ) const

inline

Definition at line 382 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl& pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator-= ( const SkewSquare & v )

inline

Definition at line 103 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Symmetric3Tpl& pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator-= ( const AlphaSkewSquare & v )

inline

Definition at line 151 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::Symmetric3Tpl< _Scalar, _Options >::operator== ( const Symmetric3Tpl< _Scalar, _Options > & other ) const

inline

Definition at line 67 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

static Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::Random ( )

inlinestatic

Definition at line 49 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

static Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::RandomPositive ( )

inlinestatic

Definition at line 172 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename V3in , typename V3out >

static void pinocchio::Symmetric3Tpl< _Scalar, _Options >::rhsMult	(	const Symmetric3Tpl< _Scalar, _Options > &	S3,
		const Eigen::MatrixBase< V3in > &	vin,
		const Eigen::MatrixBase< V3out > &	vout
	)

inlinestatic

Definition at line 343 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename D >

Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::rotate ( const Eigen::MatrixBase< D > & R ) const

inline

Definition at line 415 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

void pinocchio::Symmetric3Tpl< _Scalar, _Options >::setIdentity ( )

inline

Definition at line 64 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

void pinocchio::Symmetric3Tpl< _Scalar, _Options >::setRandom ( )

inline

Definition at line 50 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

void pinocchio::Symmetric3Tpl< _Scalar, _Options >::setZero ( )

inline

Definition at line 47 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename Vector3 , typename Matrix3 >

static void pinocchio::Symmetric3Tpl< _Scalar, _Options >::svx	(	const Eigen::MatrixBase< Vector3 > &	v,
		const Symmetric3Tpl< _Scalar, _Options > &	S3,
		const Eigen::MatrixBase< Matrix3 > &	M
	)

inlinestatic

Performs the operation $M = S_{3} [v]_{\times}$ .

Template Parameters

Vector3,Matrix3

Parameters

[in]	v	a vector of dimension 3.
[in]	S3	a symmetric matrix of dimension 3x3.
[out]	M	an output matrix of dimension 3x3.

Definition at line 284 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename Vector3 >

Matrix3 pinocchio::Symmetric3Tpl< _Scalar, _Options >::svx ( const Eigen::MatrixBase< Vector3 > & v ) const

inline

Performs the operation $M = S_{3} [v]_{\times}$ .

Template Parameters

Vector3

Parameters

[in] v a vector of dimension 3.

Returns: the result $S [v]_{\times}$ .

Definition at line 325 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

Scalar pinocchio::Symmetric3Tpl< _Scalar, _Options >::vtiv ( const Vector3 & v ) const

inline

Definition at line 196 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename Vector3 , typename Matrix3 >

static void pinocchio::Symmetric3Tpl< _Scalar, _Options >::vxs	(	const Eigen::MatrixBase< Vector3 > &	v,
		const Symmetric3Tpl< _Scalar, _Options > &	S3,
		const Eigen::MatrixBase< Matrix3 > &	M
	)

inlinestatic

Performs the operation $M = [v]_{\times} S_{3}$ . This operation is equivalent to applying the cross product of v on each column of S.

Template Parameters

Vector3,Matrix3

Parameters

[in]	v	a vector of dimension 3.
[in]	S3	a symmetric matrix of dimension 3x3.
[out]	M	an output matrix of dimension 3x3.

Definition at line 223 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename Vector3 >

Matrix3 pinocchio::Symmetric3Tpl< _Scalar, _Options >::vxs ( const Eigen::MatrixBase< Vector3 > & v ) const

inline

Performs the operation $[v]_{\times} S$ . This operation is equivalent to applying the cross product of v on each column of S.

Template Parameters

Vector3

Parameters

[in] v a vector of dimension 3.

Returns: the result $[v]_{\times} S$ .

Definition at line 267 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

static Symmetric3Tpl pinocchio::Symmetric3Tpl< _Scalar, _Options >::Zero ( )

inlinestatic

Definition at line 46 of file spatial/symmetric3.hpp.

Friends And Related Function Documentation

template<typename _Scalar, int _Options>

AlphaSkewSquare operator*	(	const Scalar &	m,
		const SkewSquare &	sk
	)

friend

Definition at line 139 of file spatial/symmetric3.hpp.

template<typename _Scalar, int _Options>

template<typename D >

Matrix3 operator-	(	const Symmetric3Tpl< _Scalar, _Options > &	S,
		const Eigen::MatrixBase< D > &	M
	)

friend

Definition at line 113 of file spatial/symmetric3.hpp.

Member Data Documentation

template<typename _Scalar, int _Options>

Vector6 pinocchio::Symmetric3Tpl< _Scalar, _Options >::m_data

protected

Definition at line 468 of file spatial/symmetric3.hpp.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

template<typename _Scalar, int _Options> class pinocchio::Symmetric3Tpl< _Scalar, _Options >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename _Scalar, int _Options>
class pinocchio::Symmetric3Tpl< _Scalar, _Options >