sva::ForceVec< T > Class Template Reference

#include <SpaceVecAlg/ForceVec.h>

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

Public Member Functions
	ForceVec ()
	ForceVec (const vector6_t &vec)
	ForceVec (const vector3_t &couple, const vector3_t &force)
vector3_t &	couple ()
const vector3_t &	couple () const
vector3_t &	moment ()
const vector3_t &	moment () const
vector3_t &	force ()
const vector3_t &	force () const
vector6_t	vector () const
template<typename T2 >
ForceVec< T2 >	cast () const
ForceVec< T >	operator+ (const ForceVec< T > &fv) const
ForceVec< T >	operator- (const ForceVec< T > &fv) const
ForceVec< T >	operator- () const
ForceVec< T > &	operator+= (const ForceVec< T > &fv)
ForceVec< T > &	operator-= (const ForceVec< T > &fv)
template<typename T2 , typename std::enable_if< std::is_arithmetic< T2 >::value, int >::type = 0>
ForceVec< T >	operator* (T2 scalar) const
template<typename T2 >
ForceVec< T >	operator/ (T2 scalar) const
template<typename T2 , typename std::enable_if< std::is_arithmetic< T2 >::value, int >::type = 0>
ForceVec< T > &	operator*= (T2 scalar)
template<typename T2 >
ForceVec< T > &	operator/= (T2 scalar)
bool	operator== (const ForceVec< T > &fv) const
bool	operator!= (const ForceVec< T > &fv) const

Static Public Member Functions
static ForceVec< T >	Zero ()
	Zero force vector. More...

Friends
class	PTransform< T >

Detailed Description

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

Spatial Force Vector compact representations. See Roy Featherstone «Rigid Body Dynamics Algorithms» page 247.

Member Typedef Documentation

vector3_t

template<typename T >

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

vector6_t

template<typename T >

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

Constructor & Destructor Documentation

ForceVec() [1/3]

template<typename T >

sva::ForceVec< T >::ForceVec ( )

inline

ForceVec() [2/3]

template<typename T >

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

inline

Parameters

vec	Spatial force vector with couple in head and force in tail.

ForceVec() [3/3]

template<typename T >

sva::ForceVec< T >::ForceVec ( const vector3_t &  couple, const vector3_t &  force  )

inline

Parameters

couple	Couple.
force	Force.

Member Function Documentation

cast()

template<typename T >

template<typename T2 >

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

inline

couple() [1/2]

template<typename T >

vector3_t& sva::ForceVec< T >::couple ( )

inline

Returns

Couple

Note

The term "couple" is used in SpaceVecAlg with the general meaning of "moment" of a force vector. It should not to be confused with the more precise meaning of a "pure moment" that is also found in mechanics https://en.wikipedia.org/wiki/Couple_(mechanics).

See also

moment()

couple() [2/2]

template<typename T >

const vector3_t& sva::ForceVec< T >::couple ( ) const

inline

force() [1/2]

template<typename T >

vector3_t& sva::ForceVec< T >::force ( )

inline

Returns

Force

force() [2/2]

template<typename T >

const vector3_t& sva::ForceVec< T >::force ( ) const

inline

moment() [1/2]

template<typename T >

vector3_t& sva::ForceVec< T >::moment ( )

inline

Returns

Moment

moment() [2/2]

template<typename T >

const vector3_t& sva::ForceVec< T >::moment ( ) const

inline

operator!=()

template<typename T >

bool sva::ForceVec< T >::operator!= ( const ForceVec< T > &  fv ) const

inline

operator*()

template<typename T >

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

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

inline

operator*=()

template<typename T >

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

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

inline

operator+()

template<typename T >

ForceVec<T> sva::ForceVec< T >::operator+ ( const ForceVec< T > &  fv ) const

inline

operator+=()

template<typename T >

ForceVec<T>& sva::ForceVec< T >::operator+= ( const ForceVec< T > &  fv )

inline

operator-() [1/2]

template<typename T >

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

inline

operator-() [2/2]

template<typename T >

ForceVec<T> sva::ForceVec< T >::operator- ( const ForceVec< T > &  fv ) const

inline

operator-=()

template<typename T >

ForceVec<T>& sva::ForceVec< T >::operator-= ( const ForceVec< T > &  fv )

inline

operator/()

template<typename T >

template<typename T2 >

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

inline

operator/=()

template<typename T >

template<typename T2 >

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

inline

operator==()

template<typename T >

bool sva::ForceVec< T >::operator== ( const ForceVec< T > &  fv ) const

inline

vector()

template<typename T >

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

inline

Returns

Non compact spatial force vector.

Zero()

template<typename T >

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

inlinestatic

Zero force vector.

Friends And Related Function Documentation

PTransform< T >

template<typename T >

friend class PTransform< T >

friend

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

• src/SpaceVecAlg/ForceVec.h