IDIM.h File Reference

#include <vector>
#include <rbdyn/config.hh>
#include <SpaceVecAlg/SpaceVecAlg>

Include dependency graph for IDIM.h:

Go to the source code of this file.

Classes
class	rbd::IDIM

Namespaces
namespace	rbd

Functions
RBDYN_DLLAPI Eigen::Matrix< double, 6, 10 >	rbd::IMPhi (const sva::MotionVecd &mv)
	Return the IMPhi matrix that compute I*m = IMPhi(m)*phi_i.
RBDYN_DLLAPI Eigen::Matrix< double, 10, 1 >	rbd::inertiaToVector (const sva::RBInertiad &rbi)
RBDYN_DLLAPI sva::RBInertiad	rbd::vectorToInertia (const Eigen::Matrix< double, 10, 1 > &vec)
	Convert a phi vector into a RBInertiad.
RBDYN_DLLAPI sva::RBInertiad	rbd::sVectorToInertia (const Eigen::VectorXd &vec)
RBDYN_DLLAPI Eigen::VectorXd	rbd::multiBodyToInertialVector (const rbd::MultiBody &mb)