A spatial force (a wrench) More...
#include <SForced.h>
Inheritance diagram for Ravelin::SFORCE:
Public Member Functions | |
| SFORCE (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force with zero force and torque components. | |
| SFORCE (boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force with zero force and torque components. | |
| SFORCE (const SVECTOR6 &w) | |
| Constructs a spatial force from the SVector6. | |
| SFORCE (REAL fx, REAL fy, REAL fz, REAL tx, REAL ty, REAL tz, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force using six values- first three force, second three torque- and a pose. | |
| SFORCE (REAL fx, REAL fy, REAL fz, REAL tx, REAL ty, REAL tz, boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force using six values- first three force, second three torque- and a pose. | |
| SFORCE (const REAL *array, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force using six values- first three force, second three torque0 and a pose. | |
| SFORCE (const REAL *array, boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force using six values- first three force, second three torque0 and a pose. | |
| SFORCE (const VECTOR3 &f, const VECTOR3 &t, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force using given force and torque and pose. | |
| SFORCE (const VECTOR3 &f, const VECTOR3 &t, boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force using given force and torque and pose. | |
| REAL | dot (const SVELOCITY &v) const |
| REAL | dot (const SAXIS &s) const |
| void | set_force (const VECTOR3 &f) |
| void | set_torque (const VECTOR3 &t) |
| VECTOR3 | get_force () const |
| VECTOR3 | get_torque () const |
| SFORCE & | operator= (const SFORCE &source) |
| SFORCE & | operator= (const SVECTOR6 &source) |
| SFORCE & | operator+= (const SMOMENTUM &v) |
| SFORCE & | operator-= (const SMOMENTUM &v) |
| SFORCE | operator- () const |
| Returns the negation of this vector. | |
| SFORCE & | operator-= (const SFORCE &v) |
| SFORCE & | operator+= (const SFORCE &v) |
| SFORCE | operator+ (const SFORCE &v) const |
| SFORCE | operator- (const SFORCE &v) const |
| SFORCE | operator+ (const SMOMENTUM &v) const |
| SFORCE | operator- (const SMOMENTUM &v) const |
| SFORCE | operator* (REAL scalar) const |
| SFORCE | operator/ (REAL scalar) const |
| SFORCE (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force with zero force and torque components. | |
| SFORCE (boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force with zero force and torque components. | |
| SFORCE (const SVECTOR6 &w) | |
| Constructs a spatial force from the SVector6. | |
| SFORCE (REAL fx, REAL fy, REAL fz, REAL tx, REAL ty, REAL tz, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force using six values- first three force, second three torque- and a pose. | |
| SFORCE (REAL fx, REAL fy, REAL fz, REAL tx, REAL ty, REAL tz, boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force using six values- first three force, second three torque- and a pose. | |
| SFORCE (const REAL *array, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force using six values- first three force, second three torque0 and a pose. | |
| SFORCE (const REAL *array, boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force using six values- first three force, second three torque0 and a pose. | |
| SFORCE (const VECTOR3 &f, const VECTOR3 &t, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| Constructs a spatial force using given force and torque and pose. | |
| SFORCE (const VECTOR3 &f, const VECTOR3 &t, boost::shared_ptr< POSE3 > pose) | |
| Constructs a spatial force using given force and torque and pose. | |
| REAL | dot (const SVELOCITY &v) const |
| REAL | dot (const SAXIS &s) const |
| void | set_force (const VECTOR3 &f) |
| void | set_torque (const VECTOR3 &t) |
| VECTOR3 | get_force () const |
| VECTOR3 | get_torque () const |
| SFORCE & | operator= (const SFORCE &source) |
| SFORCE & | operator= (const SVECTOR6 &source) |
| SFORCE & | operator+= (const SMOMENTUM &v) |
| SFORCE & | operator-= (const SMOMENTUM &v) |
| SFORCE | operator- () const |
| Returns the negation of this vector. | |
| SFORCE & | operator-= (const SFORCE &v) |
| SFORCE & | operator+= (const SFORCE &v) |
| SFORCE | operator+ (const SFORCE &v) const |
| SFORCE | operator- (const SFORCE &v) const |
| SFORCE | operator+ (const SMOMENTUM &v) const |
| SFORCE | operator- (const SMOMENTUM &v) const |
| SFORCE | operator* (REAL scalar) const |
| SFORCE | operator/ (REAL scalar) const |
 Public Member Functions inherited from Ravelin::SVECTOR6 | |
| SVECTOR6 (boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c) | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (const REAL *array) | |
| SVECTOR6 (const REAL *array, boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (const REAL *array, boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower) | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower, boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower, boost::shared_ptr< POSE3 > pose) | |
| unsigned | size () const |
| SVECTOR6 & | set_zero () |
| SVECTOR6 & | set_zero (boost::shared_ptr< const POSE3 > pose) |
| void | set_lower (const VECTOR3 &lower) |
| void | set_upper (const VECTOR3 &upper) |
| VECTOR3 | get_lower () const |
| VECTOR3 | get_upper () const |
| SVECTOR6 & | operator= (const SVECTOR6 &source) |
| REAL & | operator[] (const unsigned i) |
| const REAL & | operator[] (const unsigned i) const |
| REAL * | data () |
| const REAL * | data () const |
| SVECTOR6 | operator- () const |
| SVECTOR6 & | operator/= (REAL scalar) |
| SVECTOR6 & | operator*= (REAL scalar) |
| unsigned | rows () const |
| unsigned | columns () const |
| SVECTOR6 & | resize (unsigned rows, unsigned columns) |
| SVECTOR6 & | resize (unsigned rows) |
| COLUMN_ITERATOR | begin () |
| CONST_COLUMN_ITERATOR | begin () const |
| COLUMN_ITERATOR | end () |
| CONST_COLUMN_ITERATOR | end () const |
| COLUMN_ITERATOR | column_iterator_begin () |
| CONST_COLUMN_ITERATOR | column_iterator_begin () const |
| COLUMN_ITERATOR | column_iterator_end () |
| CONST_COLUMN_ITERATOR | column_iterator_end () const |
| ROW_ITERATOR | row_iterator_begin () |
| CONST_ROW_ITERATOR | row_iterator_begin () const |
| ROW_ITERATOR | row_iterator_end () |
| CONST_ROW_ITERATOR | row_iterator_end () const |
| SVECTOR6 & | negate () |
| unsigned | inc () const |
| unsigned | leading_dim () const |
| template<class V > | |
| V & | to_vector (V &v) const |
| template<class V > | |
| SVECTOR6 (const V &v) | |
| SVECTOR6 (boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c) | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (const REAL *array) | |
| SVECTOR6 (const REAL *array, boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (const REAL *array, boost::shared_ptr< POSE3 > pose) | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower) | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower, boost::shared_ptr< const POSE3 > pose) | |
| SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower, boost::shared_ptr< POSE3 > pose) | |
| unsigned | size () const |
| SVECTOR6 & | set_zero () |
| SVECTOR6 & | set_zero (boost::shared_ptr< const POSE3 > pose) |
| void | set_lower (const VECTOR3 &lower) |
| void | set_upper (const VECTOR3 &upper) |
| VECTOR3 | get_lower () const |
| VECTOR3 | get_upper () const |
| SVECTOR6 & | operator= (const SVECTOR6 &source) |
| REAL & | operator[] (const unsigned i) |
| const REAL & | operator[] (const unsigned i) const |
| REAL * | data () |
| const REAL * | data () const |
| SVECTOR6 | operator- () const |
| SVECTOR6 & | operator/= (REAL scalar) |
| SVECTOR6 & | operator*= (REAL scalar) |
| unsigned | rows () const |
| unsigned | columns () const |
| SVECTOR6 & | resize (unsigned rows, unsigned columns) |
| SVECTOR6 & | resize (unsigned rows) |
| COLUMN_ITERATOR | begin () |
| CONST_COLUMN_ITERATOR | begin () const |
| COLUMN_ITERATOR | end () |
| CONST_COLUMN_ITERATOR | end () const |
| COLUMN_ITERATOR | column_iterator_begin () |
| CONST_COLUMN_ITERATOR | column_iterator_begin () const |
| COLUMN_ITERATOR | column_iterator_end () |
| CONST_COLUMN_ITERATOR | column_iterator_end () const |
| ROW_ITERATOR | row_iterator_begin () |
| CONST_ROW_ITERATOR | row_iterator_begin () const |
| ROW_ITERATOR | row_iterator_end () |
| CONST_ROW_ITERATOR | row_iterator_end () const |
| SVECTOR6 & | negate () |
| unsigned | inc () const |
| unsigned | leading_dim () const |
| template<class V > | |
| V & | to_vector (V &v) const |
| template<class V > | |
| SVECTOR6 (const V &v) | |
Static Public Member Functions | |
| static SFORCE | zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| Constructs a zero spatial force. | |
| static SFORCE | zero (boost::shared_ptr< POSE3 > pose) |
| Constructs a zero spatial force. | |
| template<class V > | |
| static SFORCE | from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| template<class V > | |
| static SFORCE | from_vector (const V &v, boost::shared_ptr< POSE3 > pose) |
| static SFORCE | zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| Constructs a zero spatial force. | |
| static SFORCE | zero (boost::shared_ptr< POSE3 > pose) |
| Constructs a zero spatial force. | |
| template<class V > | |
| static SFORCE | from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| template<class V > | |
| static SFORCE | from_vector (const V &v, boost::shared_ptr< POSE3 > pose) |
| Static Public Member Functions inherited from Ravelin::SVECTOR6 | |
| static SVECTOR6 | zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| static SVECTOR6 | zero (boost::shared_ptr< POSE3 > pose=boost::shared_ptr< POSE3 >()) |
| template<class V > | |
| static SVECTOR6 | from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| static SVECTOR6 | zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| static SVECTOR6 | zero (boost::shared_ptr< POSE3 > pose=boost::shared_ptr< POSE3 >()) |
| template<class V > | |
| static SVECTOR6 | from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
Friends | |
| class | SMOMENTUM |
Additional Inherited Members | |
| Public Attributes inherited from Ravelin::SVECTOR6 | |
| boost::shared_ptr< const POSE3 > | pose |
| The frame that this vector is defined in. | |
| Protected Attributes inherited from Ravelin::SVECTOR6 | |
| REAL | _data [6] |
Detailed Description
A spatial force (a wrench)
The documentation for this class was generated from the following files:
