sva::ABInertia< T > Class Template Reference

#include <SpaceVecAlg/ABInertia.h>

Public Types
typedef Eigen::Vector3< T >	vector3_t
typedef Eigen::Matrix3< T >	matrix3_t
typedef Eigen::Matrix6< T >	matrix6_t

Public Member Functions
	ABInertia ()
	ABInertia (const matrix3_t &M, const matrix3_t &H, const matrix3_t &I)
	ABInertia (const Eigen::TriangularView< matrix3_t, Eigen::Lower > &ltM, const matrix3_t &H, const Eigen::TriangularView< matrix3_t, Eigen::Lower > &ltI)
const matrix3_t &	lowerTriangularMassMatrix () const
matrix3_t	massMatrix () const
const matrix3_t &	gInertia () const
const matrix3_t &	lowerTriangularInertia () const
matrix3_t	inertia () const
matrix6_t	matrix () const
	@retrun Non compact spatial articulated body inertia matrix. More...
template<typename T2 >
ABInertia< T2 >	cast () const
ABInertia< T >	operator+ (const ABInertia< T > &rbI) const
ABInertia< T >	operator- (const ABInertia< T > &rbI) const
ABInertia< T >	operator- () const
ABInertia< T > &	operator+= (const ABInertia< T > &rbI)
ABInertia< T > &	operator-= (const ABInertia< T > &rbI)
template<typename T2 >
ABInertia< T >	operator* (T2 scalar) const
ABInertia< T >	operator+ (const RBInertia< T > &rbI) const
ForceVec< T >	operator* (const MotionVec< T > &mv) const
template<typename Derived >
void	mul (const Eigen::MatrixBase< Derived > &mv, Eigen::MatrixBase< Derived > &result) const
bool	operator== (const ABInertia< T > &abI) const
bool	operator!= (const ABInertia< T > &abI) const

Detailed Description

template<typename T>
class sva::ABInertia< T >

Spatial Articulated Body Inertia compact representation. See Roy Featherstone «Rigid Body Dynamics Algorithms» page 247.

Member Typedef Documentation

matrix3_t

template<typename T >

typedef Eigen::Matrix3<T> sva::ABInertia< T >::matrix3_t

matrix6_t

template<typename T >

typedef Eigen::Matrix6<T> sva::ABInertia< T >::matrix6_t

vector3_t

template<typename T >

typedef Eigen::Vector3<T> sva::ABInertia< T >::vector3_t

Constructor & Destructor Documentation

ABInertia() [1/3]

template<typename T >

sva::ABInertia< T >::ABInertia ( )

inline

ABInertia() [2/3]

template<typename T >

sva::ABInertia< T >::ABInertia ( const matrix3_t &  M, const matrix3_t &  H, const matrix3_t &  I  )

inline

Parameters

M	Mass matrix.
H	Generalized inertia matrix.
I	Inertia matrix.

ABInertia() [3/3]

template<typename T >

sva::ABInertia< T >::ABInertia ( const Eigen::TriangularView< matrix3_t, Eigen::Lower > &  ltM, const matrix3_t &  H, const Eigen::TriangularView< matrix3_t, Eigen::Lower > &  ltI  )

inline

Parameters

M	Lower triangular view of Mass matrix.
H	Generalized inertia matrix.
I	Lower triangular view Inertia matrix.

Member Function Documentation

cast()

template<typename T >

template<typename T2 >

ABInertia<T2> sva::ABInertia< T >::cast ( ) const

inline

gInertia()

template<typename T >

const matrix3_t& sva::ABInertia< T >::gInertia ( ) const

inline

Returns

Generalized inertia matrix.

inertia()

template<typename T >

matrix3_t sva::ABInertia< T >::inertia ( ) const

inline

Returns

Inertia matrix.

lowerTriangularInertia()

template<typename T >

const matrix3_t& sva::ABInertia< T >::lowerTriangularInertia ( ) const

inline

Returns

Inertia matrix with a zero upper part.

lowerTriangularMassMatrix()

template<typename T >

const matrix3_t& sva::ABInertia< T >::lowerTriangularMassMatrix ( ) const

inline

Returns

Mass matrix with a zero upper part.

massMatrix()

template<typename T >

matrix3_t sva::ABInertia< T >::massMatrix ( ) const

inline

Returns

Mass matrix.

matrix()

template<typename T >

matrix6_t sva::ABInertia< T >::matrix ( ) const

inline

@retrun Non compact spatial articulated body inertia matrix.

mul()

template<typename T >

template<typename Derived >

void sva::ABInertia< T >::mul ( const Eigen::MatrixBase< Derived > &  mv, Eigen::MatrixBase< Derived > &  result  ) const

inline

See also

operator*(const MotionVec<T>& mv) const

operator!=()

template<typename T >

bool sva::ABInertia< T >::operator!= ( const ABInertia< T > &  abI ) const

inline

operator*() [1/2]

template<typename T >

ForceVec< T > sva::ABInertia< T >::operator* ( const MotionVec< T > &  mv ) const

inline

Returns

Ia * v

operator*() [2/2]

template<typename T >

template<typename T2 >

ABInertia<T> sva::ABInertia< T >::operator* ( T2  scalar ) const

inline

operator+() [1/2]

template<typename T >

ABInertia<T> sva::ABInertia< T >::operator+ ( const ABInertia< T > &  rbI ) const

inline

operator+() [2/2]

template<typename T >

ABInertia< T > sva::ABInertia< T >::operator+ ( const RBInertia< T > &  rbI ) const

inline

Returns

Ia + I

operator+=()

template<typename T >

ABInertia<T>& sva::ABInertia< T >::operator+= ( const ABInertia< T > &  rbI )

inline

operator-() [1/2]

template<typename T >

ABInertia<T> sva::ABInertia< T >::operator- ( ) const

inline

operator-() [2/2]

template<typename T >

ABInertia<T> sva::ABInertia< T >::operator- ( const ABInertia< T > &  rbI ) const

inline

operator-=()

template<typename T >

ABInertia<T>& sva::ABInertia< T >::operator-= ( const ABInertia< T > &  rbI )

inline

operator==()

template<typename T >

bool sva::ABInertia< T >::operator== ( const ABInertia< T > &  abI ) const

inline

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The documentation for this class was generated from the following files:

• src/SpaceVecAlg/ABInertia.h
• src/SpaceVecAlg/Operators.h