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5 #ifndef __pinocchio_spatial_axis_hpp__
6 #define __pinocchio_spatial_axis_hpp__
18 template<
int axis,
typename MotionDerived>
40 template<
typename Derived1,
typename Derived2>
43 template<
typename Derived>
51 template<
typename Derived1,
typename Derived2>
54 template<
typename Derived>
62 template<
typename Scalar>
67 for (Eigen::DenseIndex
i = 0;
i <
dim; ++
i)
73 template<
typename Scalar>
79 template<
typename Derived>
88 template<
typename MotionDerived>
91 typename MotionDerived::MotionPlain
res;
94 res.angular().setZero();
109 template<
typename Derived1,
typename Derived2>
115 if ((LINEAR == 0 &&
axis < 3) || (LINEAR == 3 &&
axis >= 3))
117 mout_.angular().setZero();
128 template<
typename Derived1,
typename Derived2>
134 if ((LINEAR == 0 &&
axis < 3) || (LINEAR == 3 &&
axis >= 3))
136 fout_.linear().setZero();
155 #endif // __pinocchio_spatial_axis_hpp__
ConstLinearType linear() const
Return the linear part of the force vector.
static void cross(const Eigen::MatrixBase< V3_in > &vin, const Eigen::MatrixBase< V3_out > &vout)
#define PINOCCHIO_EIGEN_CONST_CAST(TYPE, OBJ)
Macro for an automatic const_cast.
static traits< Derived >::ForcePlain cross(const ForceDense< Derived > &fin)
Return type of the ation of a Motion onto an object of type D.
CartesianAxis< _axis % 3 > CartesianAxis3
JointCollectionTpl const DataTpl< Scalar, Options, JointCollectionTpl > const Eigen::MatrixBase< Mat > & min
friend MotionTpl< Scalar > operator*(const Scalar &s, const SpatialAxis &)
friend Derived & operator<<(MotionDense< Derived > &min, const SpatialAxis &)
static void cross(const MotionDense< Derived1 > &min, const MotionDense< Derived2 > &mout)
MotionDerived::MotionPlain ReturnType
MotionTpl< Scalar > operator*(const Scalar &s) const
static traits< Derived >::MotionPlain cross(const MotionDense< Derived > &min)
void cross(const Eigen::MatrixBase< Vector3 > &v, const Eigen::MatrixBase< Matrix3xIn > &Min, const Eigen::MatrixBase< Matrix3xOut > &Mout)
Applies the cross product onto the columns of M.
Common traits structure to fully define base classes for CRTP.
MotionDerived::MotionPlain motionAction(const MotionDense< MotionDerived > &m) const
ConstAngularType angular() const
Return the angular part of the force vector.
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:12