sva::AdmittanceVec< T > Class Template Reference

#include <SpaceVecAlg/AdmittanceVec.h>

Public Types
typedef Eigen::Vector3< T >	vector3_t
typedef Eigen::Vector6< T >	vector6_t

Public Member Functions
	AdmittanceVec ()
	AdmittanceVec (const vector6_t &vec)
	AdmittanceVec (const vector3_t &angular, const vector3_t &linear)
	AdmittanceVec (T angular, T linear)
const vector3_t &	angular () const
vector3_t &	angular ()
const vector3_t &	linear () const
vector3_t &	linear ()
vector6_t	vector () const
template<typename T2 >
AdmittanceVec< T2 >	cast () const
AdmittanceVec< T >	operator+ (const AdmittanceVec< T > &av) const
AdmittanceVec< T > &	operator+= (const AdmittanceVec< T > &av)
template<typename T2 , typename std::enable_if< std::is_arithmetic< T2 >::value, int >::type = 0>
AdmittanceVec< T >	operator* (T2 scalar) const
template<typename T2 >
AdmittanceVec< T > &	operator*= (T2 scalar)
template<typename T2 >
AdmittanceVec< T >	operator/ (T2 scalar) const
template<typename T2 >
AdmittanceVec< T > &	operator/= (T2 scalar)
bool	operator== (const AdmittanceVec< T > &av) const
bool	operator!= (const AdmittanceVec< T > &av) const

Static Public Member Functions
static AdmittanceVec< T >	Zero ()
	Zero admittance vector. More...

Detailed Description

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

Admittance Vector. Mechanical admittance is a measure of how much a structure moves in response to a given force:

v = A * F

where F is the exerted force, A the admittance and v the resulting output velocity. Admittance is the reciprocal of mechanical impedance; see https://en.wikipedia.org/wiki/Mechanical_impedance.

Member Typedef Documentation

vector3_t

template<typename T >

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

vector6_t

template<typename T >

typedef Eigen::Vector6<T> sva::AdmittanceVec< T >::vector6_t

Constructor & Destructor Documentation

AdmittanceVec() [1/4]

template<typename T >

sva::AdmittanceVec< T >::AdmittanceVec ( )

inline

Empty constructor

AdmittanceVec() [2/4]

template<typename T >

sva::AdmittanceVec< T >::AdmittanceVec ( const vector6_t &  vec )

inline

Define admittance from 6D vector.

Parameters

vec	Admittance vector with angular motion in head and linear motion in tail.

AdmittanceVec() [3/4]

template<typename T >

sva::AdmittanceVec< T >::AdmittanceVec ( const vector3_t &  angular, const vector3_t &  linear  )

inline

Define admittance from angular and linear components.

Parameters

angular	Angular admittance.
linear	Linear admittance.

AdmittanceVec() [4/4]

template<typename T >

sva::AdmittanceVec< T >::AdmittanceVec ( T  angular, T  linear  )

inline

Homogeneous admittance constructor.

Parameters

angular	Angular admittance.
linear	Linear admittance.

Member Function Documentation

angular() [1/2]

template<typename T >

vector3_t& sva::AdmittanceVec< T >::angular ( )

inline

Returns

Angular admittance

angular() [2/2]

template<typename T >

const vector3_t& sva::AdmittanceVec< T >::angular ( ) const

inline

Returns

Angular admittance

cast()

template<typename T >

template<typename T2 >

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

inline

linear() [1/2]

template<typename T >

vector3_t& sva::AdmittanceVec< T >::linear ( )

inline

Returns

Linear admittance

linear() [2/2]

template<typename T >

const vector3_t& sva::AdmittanceVec< T >::linear ( ) const

inline

Returns

Linear admittance

operator!=()

template<typename T >

bool sva::AdmittanceVec< T >::operator!= ( const AdmittanceVec< T > &  av ) const

inline

operator*()

template<typename T >

template<typename T2 , typename std::enable_if< std::is_arithmetic< T2 >::value, int >::type = 0>

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

inline

operator*=()

template<typename T >

template<typename T2 >

AdmittanceVec<T>& sva::AdmittanceVec< T >::operator*= ( T2  scalar )

inline

operator+()

template<typename T >

AdmittanceVec<T> sva::AdmittanceVec< T >::operator+ ( const AdmittanceVec< T > &  av ) const

inline

operator+=()

template<typename T >

AdmittanceVec<T>& sva::AdmittanceVec< T >::operator+= ( const AdmittanceVec< T > &  av )

inline

operator/()

template<typename T >

template<typename T2 >

AdmittanceVec<T> sva::AdmittanceVec< T >::operator/ ( T2  scalar ) const

inline

operator/=()

template<typename T >

template<typename T2 >

AdmittanceVec<T>& sva::AdmittanceVec< T >::operator/= ( T2  scalar )

inline

operator==()

template<typename T >

bool sva::AdmittanceVec< T >::operator== ( const AdmittanceVec< T > &  av ) const

inline

vector()

template<typename T >

vector6_t sva::AdmittanceVec< T >::vector ( ) const

inline

Returns

Non-compact admittance vector.

Zero()

template<typename T >

static AdmittanceVec<T> sva::AdmittanceVec< T >::Zero ( )

inlinestatic

Zero admittance vector.

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

• src/SpaceVecAlg/AdmittanceVec.h