sva::ImpedanceVec< T > Class Template Reference

#include <SpaceVecAlg/ImpedanceVec.h>

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

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

Static Public Member Functions
static ImpedanceVec< T >	Zero ()
	Zero impedance vector. More...

Detailed Description

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

Impedance Vector. Mechanical impedance is a measure of how much a structure resists motion when subjected to a given force:

F = Z * v

where F is the exerted force, Z the impedance and v the resulting output velocity. See https://en.wikipedia.org/wiki/Mechanical_impedance.

Member Typedef Documentation

vector3_t

template<typename T >

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

vector6_t

template<typename T >

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

Constructor & Destructor Documentation

ImpedanceVec() [1/4]

template<typename T >

sva::ImpedanceVec< T >::ImpedanceVec ( )

inline

Empty constructor

ImpedanceVec() [2/4]

template<typename T >

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

inline

Define impedance from 6D vector.

Parameters

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

ImpedanceVec() [3/4]

template<typename T >

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

inline

Define impedance from angular and linear components.

Parameters

angular	Angular impedance.
linear	Linear impedance.

ImpedanceVec() [4/4]

template<typename T >

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

inline

Homogeneous impedance constructor.

Parameters

angular	Angular impedance.
linear	Linear impedance.

Member Function Documentation

angular() [1/2]

template<typename T >

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

inline

Returns

Angular impedance

angular() [2/2]

template<typename T >

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

inline

Returns

Angular impedance

cast()

template<typename T >

template<typename T2 >

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

inline

linear() [1/2]

template<typename T >

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

inline

Returns

Linear impedance

linear() [2/2]

template<typename T >

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

inline

Returns

Linear impedance

operator!=()

template<typename T >

bool sva::ImpedanceVec< T >::operator!= ( const ImpedanceVec< T > &  iv ) const

inline

operator*()

template<typename T >

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

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

inline

operator*=()

template<typename T >

template<typename T2 >

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

inline

operator+()

template<typename T >

ImpedanceVec<T> sva::ImpedanceVec< T >::operator+ ( const ImpedanceVec< T > &  iv ) const

inline

operator+=()

template<typename T >

ImpedanceVec<T>& sva::ImpedanceVec< T >::operator+= ( const ImpedanceVec< T > &  iv )

inline

operator/()

template<typename T >

template<typename T2 >

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

inline

operator/=()

template<typename T >

template<typename T2 >

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

inline

operator==()

template<typename T >

bool sva::ImpedanceVec< T >::operator== ( const ImpedanceVec< T > &  iv ) const

inline

vector()

template<typename T >

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

inline

Returns

Non compact impedance vector.

Zero()

template<typename T >

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

inlinestatic

Zero impedance vector.

---

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

• src/SpaceVecAlg/ImpedanceVec.h