Template Struct InertiaTpl

Defined in File inertia.hpp

Inheritance Relationships

Base Type

public pinocchio::InertiaBase< InertiaTpl< _Scalar, _Options > > (Template Struct InertiaBase)

Struct Documentation

template<typename _Scalar, int _Options> struct InertiaTpl : public pinocchio::InertiaBase<InertiaTpl<_Scalar, _Options>>

Public Types

Values:

enumerator Options

typedef Symmetric3::AlphaSkewSquare AlphaSkewSquare

typedef Eigen::Matrix<Scalar, 10, 1, Options> Vector10

typedef Eigen::Matrix<Scalar, 10, 10, Options> Matrix10

typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia

typedef LogCholeskyParametersTpl<Scalar, Options> LogCholeskyParameters

Public Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SPATIAL_TYPEDEF_TEMPLATE(InertiaTpl)

inline InertiaTpl()

inline InertiaTpl(const Scalar &mass, const Vector3 &com, const Matrix3 &rotational_inertia)

inline explicit InertiaTpl(const Matrix6 &I6)

inline InertiaTpl(const Scalar &mass, const Vector3 &com, const Symmetric3 &rotational_inertia)

inline InertiaTpl(const InertiaTpl &clone)

inline InertiaTpl &operator=(const InertiaTpl &clone)

template<typename S2, int O2> inline explicit InertiaTpl(const InertiaTpl<S2, O2> &clone)

inline void setZero()

inline void setIdentity()

inline void setRandom()

template<typename Matrix6Like> inline void matrix_impl(const Eigen::MatrixBase<Matrix6Like> &M_) const

inline Matrix6 matrix_impl() const

template<typename Matrix6Like> inline void inverse_impl(const Eigen::MatrixBase<Matrix6Like> &M_) const

inline Matrix6 inverse_impl() const

inline Vector10 toDynamicParameters() const: Returns the representation of the matrix as a vector of dynamic parameters. The parameters are given as \( v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T \) where \( c \) is the center of mass, \( I = I_C + mS^T(c)S(c) \) and \( I_C \) has its origin at the barycenter and \( S(c) \) is the the skew matrix representation of the cross product operator.

inline PseudoInertia toPseudoInertia() const

Convert the InertiaTpl object to a 4x4 pseudo inertia matrix.

Returns:: A 4x4 pseudo inertia matrix.

inline InertiaTpl &__equl__(const InertiaTpl &clone)

inline bool isEqual(const InertiaTpl &Y2) const

inline bool isApprox_impl(const InertiaTpl &other, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline bool isZero_impl(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline InertiaTpl __plus__(const InertiaTpl &Yb) const

inline InertiaTpl &__pequ__(const InertiaTpl &Yb)

inline InertiaTpl __minus__(const InertiaTpl &Yb) const

inline InertiaTpl &__mequ__(const InertiaTpl &Yb)

template<typename MotionDerived> inline ForceTpl<typename traits<MotionDerived>::Scalar, traits<MotionDerived>::Options> __mult__(const MotionDense<MotionDerived> &v) const

template<typename MotionDerived, typename ForceDerived> inline void __mult__(const MotionDense<MotionDerived> &v, ForceDense<ForceDerived> &f) const

template<typename MotionDerived> inline Scalar vtiv_impl(const MotionDense<MotionDerived> &v) const

template<typename MotionDerived> inline Matrix6 variation(const MotionDense<MotionDerived> &v) const

inline Scalar mass() const

inline const Vector3 &lever() const

inline const Symmetric3 &inertia() const

inline Scalar &mass()

inline Vector3 &lever()

inline Symmetric3 &inertia()

template<typename S2, int O2> inline InertiaTpl se3Action_impl(const SE3Tpl<S2, O2> &M) const: aI = aXb.act(bI)

template<typename S2, int O2> inline InertiaTpl se3ActionInverse_impl(const SE3Tpl<S2, O2> &M) const: bI = aXb.actInv(aI)

template<typename MotionDerived> inline Force vxiv(const MotionDense<MotionDerived> &v) const

inline void disp_impl(std::ostream &os) const

template<typename NewScalar> inline InertiaTpl<NewScalar, Options> cast() const

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

Public Static Functions

static inline InertiaTpl Zero()

static inline InertiaTpl Identity()

static inline InertiaTpl Random()

static inline InertiaTpl FromSphere(const Scalar mass, const Scalar radius)

Computes the Inertia of a sphere defined by its mass and its radius.

Parameters:

mass – [in] of the sphere.
radius – [in] of the sphere.

static inline InertiaTpl FromEllipsoid(const Scalar mass, const Scalar x, const Scalar y, const Scalar z)

Computes the Inertia of an ellipsoid defined by its mass and main semi-axis dimensions (x,y,z).

Parameters:

mass – [in] of the ellipsoid.
x – [in] semi-axis dimension along the local X axis.
y – [in] semi-axis dimension along the local Y axis.
z – [in] semi-axis dimension along the local Z axis.

static inline InertiaTpl FromCylinder(const Scalar mass, const Scalar radius, const Scalar length)

Computes the Inertia of a cylinder defined by its mass, radius and length along the Z axis.

Parameters:

mass – [in] of the cylinder.
radius – [in] of the cylinder.
length – [in] of the cylinder.

static inline InertiaTpl FromBox(const Scalar mass, const Scalar x, const Scalar y, const Scalar z)

Computes the Inertia of a box defined by its mass and main dimensions (x,y,z).

Parameters:

mass – [in] of the box.
x – [in] dimension along the local X axis.
y – [in] dimension along the local Y axis.
z – [in] dimension along the local Z axis.

static inline InertiaTpl FromCapsule(const Scalar mass, const Scalar radius, const Scalar height)

Computes the Inertia of a capsule defined by its mass, radius and length along the Z axis. Assumes a uniform density.

Parameters:

mass – [in] of the capsule.
radius – [in] of the capsule.
height – [in] of the capsule.

template<typename Vector10Like> static inline InertiaTpl FromDynamicParameters(const Eigen::MatrixBase<Vector10Like> &params)

Builds and inertia matrix from a vector of dynamic parameters.

The parameters are given as \( v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T \) where \( I = I_C + mS^T(c)S(c) \) and \( I_C \) has its origin at the barycenter.

Parameters:: params – [in] The dynamic parameters.

static inline InertiaTpl FromPseudoInertia(const PseudoInertia &pseudo_inertia)

Create an InertiaTpl object from a PseudoInertia object.

Parameters:: pseudo_inertia – A PseudoInertia object.
Returns:: An InertiaTpl object.

static inline InertiaTpl FromLogCholeskyParameters(const LogCholeskyParameters &log_cholesky)

Create an InertiaTpl object from log Cholesky parameters.

Parameters:: log_cholesky – A log cholesky parameters object
Returns:: An InertiaTpl object.

template<typename MotionDerived, typename M6> static inline void vxi_impl(const MotionDense<MotionDerived> &v, const InertiaTpl &I, const Eigen::MatrixBase<M6> &Iout)

template<typename MotionDerived, typename M6> static inline void ivx_impl(const MotionDense<MotionDerived> &v, const InertiaTpl &I, const Eigen::MatrixBase<M6> &Iout)

Protected Attributes

Scalar m_mass

Vector3 m_com

Symmetric3 m_inertia