#include <inertia.hpp>
Public Member Functions | |
Derived & | const_cast_derived () const |
Derived & | derived () |
const Derived & | derived () const |
void | disp (std::ostream &os) const |
Symmetric3 & | inertia () |
const Symmetric3 & | inertia () const |
Matrix6 | inverse () const |
template<typename Matrix6Like > | |
void | inverse (const Eigen::MatrixBase< Matrix6Like > &mat) const |
bool | isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
bool | isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const |
template<typename MotionDerived > | |
Matrix6 | ivx (const MotionDense< MotionDerived > &v) const |
Vector3 & | lever () |
const Vector3 & | lever () const |
Scalar & | mass () |
Scalar | mass () const |
Matrix6 | matrix () const |
template<typename Matrix6Like > | |
void | matrix (const Eigen::MatrixBase< Matrix6Like > &mat) const |
operator Matrix6 () const | |
bool | operator!= (const Derived &other) const |
template<typename MotionDerived > | |
ForceTpl< typename traits< MotionDerived >::Scalar, traits< MotionDerived >::Options > | operator* (const MotionDense< MotionDerived > &v) const |
Derived | operator+ (const Derived &Yb) const |
Derived & | operator+= (const Derived &Yb) |
Derived | operator- (const Derived &Yb) const |
Derived & | operator-= (const Derived &Yb) |
Derived & | operator= (const Derived &clone) |
bool | operator== (const Derived &other) const |
template<typename S2 , int O2> | |
Derived | se3Action (const SE3Tpl< S2, O2 > &M) const |
aI = aXb.act(bI) More... | |
template<typename S2 , int O2> | |
Derived | se3ActionInverse (const SE3Tpl< S2, O2 > &M) const |
bI = aXb.actInv(aI) More... | |
void | setIdentity () |
void | setRandom () |
void | setZero () |
SPATIAL_TYPEDEF_TEMPLATE (Derived) | |
template<typename MotionDerived > | |
Matrix6 | variation (const MotionDense< MotionDerived > &v) const |
template<typename MotionDerived > | |
Scalar | vtiv (const MotionDense< MotionDerived > &v) const |
template<typename MotionDerived > | |
Matrix6 | vxi (const MotionDense< MotionDerived > &v) const |
Static Public Member Functions | |
template<typename MotionDerived , typename M6 > | |
static void | ivx (const MotionDense< MotionDerived > &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout) |
Time variation operator. It computes the time derivative of an inertia I corresponding to the formula . More... | |
template<typename MotionDerived , typename M6 > | |
static void | vxi (const MotionDense< MotionDerived > &v, const Derived &I, const Eigen::MatrixBase< M6 > &Iout) |
Time variation operator. It computes the time derivative of an inertia I corresponding to the formula . More... | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const InertiaBase< Derived > &X) |
Additional Inherited Members | |
Public Types inherited from pinocchio::NumericalBase< Derived > | |
typedef traits< Derived >::Scalar | Scalar |
Definition at line 19 of file spatial/inertia.hpp.
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Definition at line 32 of file spatial/inertia.hpp.
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Definition at line 23 of file spatial/inertia.hpp.
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Definition at line 27 of file spatial/inertia.hpp.
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Definition at line 222 of file spatial/inertia.hpp.
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Definition at line 57 of file spatial/inertia.hpp.
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Definition at line 53 of file spatial/inertia.hpp.
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Definition at line 81 of file spatial/inertia.hpp.
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Definition at line 77 of file spatial/inertia.hpp.
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Definition at line 196 of file spatial/inertia.hpp.
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Definition at line 203 of file spatial/inertia.hpp.
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Definition at line 176 of file spatial/inertia.hpp.
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inlinestatic |
Time variation operator. It computes the time derivative of an inertia I corresponding to the formula .
[in] | v | The spatial velocity of the frame supporting the inertia. |
[in] | I | The spatial inertia in motion. |
[out] | Iout | The time derivative of the inertia I. |
Definition at line 169 of file spatial/inertia.hpp.
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Definition at line 49 of file spatial/inertia.hpp.
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Definition at line 45 of file spatial/inertia.hpp.
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Definition at line 41 of file spatial/inertia.hpp.
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Definition at line 37 of file spatial/inertia.hpp.
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Definition at line 67 of file spatial/inertia.hpp.
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Definition at line 63 of file spatial/inertia.hpp.
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Definition at line 71 of file spatial/inertia.hpp.
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Definition at line 94 of file spatial/inertia.hpp.
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Definition at line 118 of file spatial/inertia.hpp.
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Definition at line 103 of file spatial/inertia.hpp.
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Definition at line 99 of file spatial/inertia.hpp.
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Definition at line 111 of file spatial/inertia.hpp.
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Definition at line 107 of file spatial/inertia.hpp.
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Definition at line 86 of file spatial/inertia.hpp.
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Definition at line 90 of file spatial/inertia.hpp.
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aI = aXb.act(bI)
Definition at line 210 of file spatial/inertia.hpp.
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bI = aXb.actInv(aI)
Definition at line 217 of file spatial/inertia.hpp.
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Definition at line 187 of file spatial/inertia.hpp.
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Definition at line 191 of file spatial/inertia.hpp.
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Definition at line 183 of file spatial/inertia.hpp.
pinocchio::InertiaBase< Derived >::SPATIAL_TYPEDEF_TEMPLATE | ( | Derived | ) |
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Definition at line 130 of file spatial/inertia.hpp.
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Definition at line 124 of file spatial/inertia.hpp.
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Definition at line 152 of file spatial/inertia.hpp.
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inlinestatic |
Time variation operator. It computes the time derivative of an inertia I corresponding to the formula .
[in] | v | The spatial velocity of the frame supporting the inertia. |
[in] | I | The spatial inertia in motion. |
[out] | Iout | The time derivative of the inertia I. |
Definition at line 145 of file spatial/inertia.hpp.
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Definition at line 226 of file spatial/inertia.hpp.