#include <SpaceVecAlg/fwd.h>

Public Member Functions
	PTransform ()
	Default constructor. Rotation and translation are uninitialized. More...

template<typename T2 >
	PTransform (const PTransform< T2 > &pt)
	Copy constructor. More...

	PTransform (const matrix3_t &rot, const vector3_t &trans)

	PTransform (const quaternion_t &rot, const vector3_t &trans)

	PTransform (const quaternion_t &rot)

	PTransform (const matrix3_t &rot)

	PTransform (const vector3_t &trans)

const matrix3_t &	rotation () const

matrix3_t &	rotation ()

const vector3_t &	translation () const

vector3_t &	translation ()

matrix6_t	matrix () const

matrix6_t	dualMatrix () const

template<typename T2 >
PTransform< T2 >	cast () const

PTransform< T >	operator* (const PTransform< T > &pt) const

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

Eigen::Vector3< T >	angularMul (const MotionVec< T > &mv) const

Eigen::Vector3< T >	linearMul (const MotionVec< T > &mv) const

template<typename Derived >
void	mul (const Eigen::MatrixBase< Derived > &mv, Eigen::MatrixBase< Derived > &result) const

MotionVec< T >	invMul (const MotionVec< T > &mv) const

Eigen::Vector3< T >	angularInvMul (const MotionVec< T > &mv) const

Eigen::Vector3< T >	linearInvMul (const MotionVec< T > &mv) const

template<typename Derived >
void	invMul (const Eigen::MatrixBase< Derived > &mv, Eigen::MatrixBase< Derived > &result) const

ForceVec< T >	dualMul (const ForceVec< T > &fv) const

Eigen::Vector3< T >	coupleDualMul (const ForceVec< T > &fv) const

Eigen::Vector3< T >	forceDualMul (const ForceVec< T > &fv) const

template<typename Derived >
void	dualMul (const Eigen::MatrixBase< Derived > &fv, Eigen::MatrixBase< Derived > &result) const

ForceVec< T >	transMul (const ForceVec< T > &fv) const

Eigen::Vector3< T >	coupleTransMul (const ForceVec< T > &fv) const

Eigen::Vector3< T >	forceTransMul (const ForceVec< T > &fv) const

template<typename Derived >
void	transMul (const Eigen::MatrixBase< Derived > &fv, Eigen::MatrixBase< Derived > &result) const

RBInertia< T >	dualMul (const RBInertia< T > &rbI) const

RBInertia< T >	transMul (const RBInertia< T > &rbI) const

ABInertia< T >	dualMul (const ABInertia< T > &rbI) const

ABInertia< T >	transMul (const ABInertia< T > &rbI) const

PTransform< T >	inv () const

bool	operator== (const PTransform< T > &pt) const

bool	operator!= (const PTransform< T > &pt) const

Static Public Member Functions
static PTransform< T >	Identity ()
	Identity transformation. More...

Detailed Description

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

Plücker transform compact representation. Use 3D matrix as rotation internal representation. Quaternion are inversed as they must be expressed in successor frame. See Roy Featherstone «Rigid Body Dynamics Algorithms» page 247.

Constructor & Destructor Documentation

◆ PTransform() [1/7]

template<typename T >

sva::PTransform< T >::PTransform ( )

inline

Default constructor. Rotation and translation are uninitialized.

◆ PTransform() [2/7]

template<typename T >

template<typename T2 >

sva::PTransform< T >::PTransform ( const PTransform< T2 > & pt )

inline

Copy constructor.

◆ PTransform() [3/7]

template<typename T >

sva::PTransform< T >::PTransform	(	const matrix3_t &	rot,
		const vector3_t &	trans
	)

inline

Parameters

rot	Rotation matrix.
trans	Translation vector.

◆ PTransform() [4/7]

template<typename T >

sva::PTransform< T >::PTransform	(	const quaternion_t &	rot,
		const vector3_t &	trans
	)

inline

Parameters

rot	Rotation quaternion.
trans	Translation vector.

◆ PTransform() [5/7]

template<typename T >

sva::PTransform< T >::PTransform ( const quaternion_t & rot )

inline

Rotation only transform.

Parameters

rot	Rotation quaternion.

◆ PTransform() [6/7]

template<typename T >

sva::PTransform< T >::PTransform ( const matrix3_t & rot )

inline

Rotation only transform.

Parameters

rot	Rotation matrix.

◆ PTransform() [7/7]

template<typename T >

sva::PTransform< T >::PTransform ( const vector3_t & trans )

inline

Translation only transform.

Parameters

trans Translation vector.

Member Function Documentation

◆ angularInvMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::angularInvMul ( const MotionVec< T > & mv ) const

inline

Returns: compute angular part of

See also: invMul

◆ angularMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::angularMul ( const MotionVec< T > & mv ) const

inline

Returns: compute angular part of

See also: operator*(const MotionVec<T>& mv) const

◆ cast()

template<typename T >

template<typename T2 >

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

inline

◆ coupleDualMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::coupleDualMul ( const ForceVec< T > & fv ) const

inline

Returns: compute couple part of

See also: dualMul

◆ coupleTransMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::coupleTransMul ( const ForceVec< T > & fv ) const

inline

Returns: compute couple part of

See also: transMul

◆ dualMatrix()

template<typename T >

matrix6_t sva::PTransform< T >::dualMatrix ( ) const

inline

Returns: Non compact dual Plücker transformation matrix.

◆ dualMul() [1/4]

template<typename T >

ABInertia< T > sva::PTransform< T >::dualMul ( const ABInertia< T > & rbI ) const

inline

Returns: X*IX^-1

◆ dualMul() [2/4]

template<typename T >

template<typename Derived >

void sva::PTransform< T >::dualMul	(	const Eigen::MatrixBase< Derived > &	fv,
		Eigen::MatrixBase< Derived > &	result
	)		const

inline

See also: dualMul

◆ dualMul() [3/4]

template<typename T >

ForceVec< T > sva::PTransform< T >::dualMul ( const ForceVec< T > & fv ) const

inline

Returns: X*v

◆ dualMul() [4/4]

template<typename T >

RBInertia< T > sva::PTransform< T >::dualMul ( const RBInertia< T > & rbI ) const

inline

Returns: X*IX^-1

◆ forceDualMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::forceDualMul ( const ForceVec< T > & fv ) const

inline

Returns: compute force part of

See also: dualMul

◆ forceTransMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::forceTransMul ( const ForceVec< T > & fv ) const

inline

Returns: compute force part of

See also: transMul

◆ Identity()

template<typename T >

static PTransform<T> sva::PTransform< T >::Identity ( )

inlinestatic

Identity transformation.

◆ inv()

template<typename T >

PTransform<T> sva::PTransform< T >::inv ( ) const

inline

Returns: Inverse Plücker transformation.

◆ invMul() [1/2]

template<typename T >

template<typename Derived >

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

inline

See also: invMul

◆ invMul() [2/2]

template<typename T >

MotionVec< T > sva::PTransform< T >::invMul ( const MotionVec< T > & mv ) const

inline

Returns: X^-1 v

◆ linearInvMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::linearInvMul ( const MotionVec< T > & mv ) const

inline

Returns: compute linear part of

See also: invMul

◆ linearMul()

template<typename T >

Eigen::Vector3< T > sva::PTransform< T >::linearMul ( const MotionVec< T > & mv ) const

inline

Returns: compute linear part of

See also: operator*(const MotionVec<T>& mv) const

◆ matrix()

template<typename T >

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

inline

Returns: Non compact Plücker transformation matrix.

◆ mul()

template<typename T >

template<typename Derived >

void sva::PTransform< 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::PTransform< T >::operator!= ( const PTransform< T > & pt ) const

inline

◆ operator*() [1/2]

template<typename T >

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

inline

Returns: Xv

◆ operator*() [2/2]

template<typename T >

PTransform<T> sva::PTransform< T >::operator* ( const PTransform< T > & pt ) const

inline

Returns: X*X

◆ operator==()

template<typename T >

bool sva::PTransform< T >::operator== ( const PTransform< T > & pt ) const

inline

◆ rotation() [1/2]

template<typename T >

matrix3_t& sva::PTransform< T >::rotation ( )

inline

Returns: Rotation matrix.

◆ rotation() [2/2]

template<typename T >

const matrix3_t& sva::PTransform< T >::rotation ( ) const

inline

Returns: Rotation matrix.

◆ translation() [1/2]

template<typename T >

vector3_t& sva::PTransform< T >::translation ( )

inline

Returns: Translation vector.

◆ translation() [2/2]

template<typename T >

const vector3_t& sva::PTransform< T >::translation ( ) const

inline

Returns: Translation vector.

◆ transMul() [1/4]

template<typename T >

ABInertia< T > sva::PTransform< T >::transMul ( const ABInertia< T > & rbI ) const

inline

Returns: XtIX

◆ transMul() [2/4]

template<typename T >

template<typename Derived >

void sva::PTransform< T >::transMul	(	const Eigen::MatrixBase< Derived > &	fv,
		Eigen::MatrixBase< Derived > &	result
	)		const

inline

See also: transMul

◆ transMul() [3/4]

template<typename T >

ForceVec< T > sva::PTransform< T >::transMul ( const ForceVec< T > & fv ) const

inline

Returns: Xtv

◆ transMul() [4/4]

template<typename T >

RBInertia< T > sva::PTransform< T >::transMul ( const RBInertia< T > & rbI ) const

inline

Returns: XtIX

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

src/SpaceVecAlg/fwd.h
src/SpaceVecAlg/PTransform.h
src/SpaceVecAlg/Operators.h

Public Member Functions

Static Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

◆ PTransform() [1/7]

◆ PTransform() [2/7]

◆ PTransform() [3/7]

◆ PTransform() [4/7]

◆ PTransform() [5/7]

◆ PTransform() [6/7]

◆ PTransform() [7/7]

Member Function Documentation

◆ angularInvMul()

◆ angularMul()

◆ cast()

◆ coupleDualMul()

◆ coupleTransMul()

◆ dualMatrix()

◆ dualMul() [1/4]

◆ dualMul() [2/4]

◆ dualMul() [3/4]

◆ dualMul() [4/4]

◆ forceDualMul()

◆ forceTransMul()

◆ Identity()

◆ inv()

◆ invMul() [1/2]

◆ invMul() [2/2]

◆ linearInvMul()

◆ linearMul()

◆ matrix()

◆ mul()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator==()

◆ rotation() [1/2]

◆ rotation() [2/2]

◆ translation() [1/2]

◆ translation() [2/2]

◆ transMul() [1/4]

◆ transMul() [2/4]

◆ transMul() [3/4]

◆ transMul() [4/4]

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