Template Class Symmetric3Tpl
Defined in File symmetric3.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public pinocchio::NumericalBase< Symmetric3Tpl< _Scalar, _Options > >
(Template Struct NumericalBase)
Class Documentation
-
template<typename _Scalar, int _Options>
class Symmetric3Tpl : public pinocchio::NumericalBase<Symmetric3Tpl<_Scalar, _Options>> Public Types
Values:
-
enumerator Options
-
enumerator Options
Public Functions
-
inline Symmetric3Tpl()
-
inline Symmetric3Tpl(const Symmetric3Tpl &other)
-
template<typename S2, int O2>
inline explicit Symmetric3Tpl(const Symmetric3Tpl<S2, O2> &other)
-
inline Symmetric3Tpl &operator=(const Symmetric3Tpl &clone)
Copy assignment operator.
- Parameters:
other – [in] Symmetric3 to copy
-
inline Symmetric3Tpl(const Scalar &a0, const Scalar &a1, const Scalar &a2, const Scalar &a3, const Scalar &a4, const Scalar &a5)
-
inline void setZero()
-
inline void setRandom()
-
inline void setIdentity()
-
template<typename Vector3Like>
inline void setDiagonal(const Eigen::MatrixBase<Vector3Like> &diag)
-
inline bool operator==(const Symmetric3Tpl &other) const
-
inline bool operator!=(const Symmetric3Tpl &other) const
-
inline bool isApprox(const Symmetric3Tpl &other, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
-
template<typename Matrix3Like>
inline void inverse(const Eigen::MatrixBase<Matrix3Like> &res_) const
-
inline Symmetric3Tpl operator-(const SkewSquare &v) const
-
inline Symmetric3Tpl &operator-=(const SkewSquare &v)
-
inline Symmetric3Tpl operator-(const AlphaSkewSquare &v) const
-
inline Symmetric3Tpl &operator-=(const AlphaSkewSquare &v)
-
template<typename Vector3>
inline Matrix3 vxs(const Eigen::MatrixBase<Vector3> &v) const Performs the operation
. This operation is equivalent to applying the cross product of v on each column of S.- Template Parameters:
Vector3 –
- Parameters:
v – [in] a vector of dimension 3.
- Returns:
the result
.
-
template<typename Vector3>
inline Matrix3 svx(const Eigen::MatrixBase<Vector3> &v) const Performs the operation
.- Template Parameters:
Vector3 –
- Parameters:
v – [in] a vector of dimension 3.
- Returns:
the result
.
-
inline Symmetric3Tpl operator+(const Symmetric3Tpl &s2) const
-
inline Symmetric3Tpl operator-(const Symmetric3Tpl &s2) const
-
inline Symmetric3Tpl &operator+=(const Symmetric3Tpl &s2)
-
inline Symmetric3Tpl &operator-=(const Symmetric3Tpl &s2)
-
inline Symmetric3Tpl &operator*=(const Scalar s)
-
template<typename Matrix3Like>
inline Symmetric3Tpl operator-(const Eigen::MatrixBase<Matrix3Like> &S) const
-
template<typename Matrix3Like>
inline Symmetric3Tpl operator+(const Eigen::MatrixBase<Matrix3Like> &S) const
-
template<typename D>
inline Symmetric3Tpl rotate(const Eigen::MatrixBase<D> &R) const
-
template<typename NewScalar>
inline Symmetric3Tpl<NewScalar, Options> cast() const - Returns:
An expression of *this with the Scalar type casted to NewScalar.
Public Static Functions
-
static inline Symmetric3Tpl Zero()
-
static inline Symmetric3Tpl Random()
-
static inline Symmetric3Tpl Identity()
-
static inline Symmetric3Tpl RandomPositive()
-
template<typename Vector3, typename Matrix3>
static inline void vxs(const Eigen::MatrixBase<Vector3> &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase<Matrix3> &M) Performs the operation
. This operation is equivalent to applying the cross product of v on each column of S.- Template Parameters:
Vector3, Matrix3 –
- Parameters:
v – [in] a vector of dimension 3.
S3 – [in] a symmetric matrix of dimension 3x3.
M – [out] an output matrix of dimension 3x3.
-
template<typename Vector3, typename Matrix3>
static inline void svx(const Eigen::MatrixBase<Vector3> &v, const Symmetric3Tpl &S3, const Eigen::MatrixBase<Matrix3> &M) Performs the operation
.- Template Parameters:
Vector3, Matrix3 –
- Parameters:
v – [in] a vector of dimension 3.
S3 – [in] a symmetric matrix of dimension 3x3.
M – [out] an output matrix of dimension 3x3.
-
template<typename V3in, typename V3out>
static inline void rhsMult(const Symmetric3Tpl &S3, const Eigen::MatrixBase<V3in> &vin, const Eigen::MatrixBase<V3out> &vout)
Friends
-
inline friend AlphaSkewSquare operator*(const Scalar &m, const SkewSquare &sk)
-
inline friend std::ostream &operator<<(std::ostream &os, const Symmetric3Tpl<Scalar, Options> &S3)
-
struct AlphaSkewSquare
Public Functions
-
inline AlphaSkewSquare(const Scalar &m, const SkewSquare &v)
-
inline operator Symmetric3Tpl() const
-
inline AlphaSkewSquare(const Scalar &m, const SkewSquare &v)
-
struct SkewSquare