Ravelin
Public Member Functions | Static Public Member Functions | Friends | List of all members
Ravelin::SMOMENTUM Class Reference

A spatial (six dimensional) momentum. More...

#include <SMomentumd.h>

Inheritance diagram for Ravelin::SMOMENTUM:
Ravelin::SVECTOR6 Ravelin::SVECTOR6

Public Member Functions

 SMOMENTUM (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum with zero linear and angular components.
 
 SMOMENTUM (boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum with zero linear and angular components.
 
 SMOMENTUM (const SVECTOR6 &w)
 Constructs a spatial momentum from the SVector6.
 
 SMOMENTUM (REAL lx, REAL ly, REAL lz, REAL ax, REAL ay, REAL az, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum using six values- first three linear, second three angular- and a pose.
 
 SMOMENTUM (REAL lx, REAL ly, REAL lz, REAL ax, REAL ay, REAL az, boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum using six values- first three linear, second three angular- and a pose.
 
 SMOMENTUM (const REAL *array, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum using six values- first three linear, second three angular and a pose.
 
 SMOMENTUM (const REAL *array, boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum using six values- first three linear, second three angular and a pose.
 
 SMOMENTUM (const VECTOR3 &l, const VECTOR3 &a, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum using given linear and angular and pose.
 
 SMOMENTUM (const VECTOR3 &l, const VECTOR3 &a, boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum using given linear and angular and pose.
 
void set_linear (const VECTOR3 &l)
 
void set_angular (const VECTOR3 &a)
 
VECTOR3 get_linear () const
 
VECTOR3 get_angular () const
 
SMOMENTUMoperator= (const SMOMENTUM &source)
 
SMOMENTUMoperator= (const SFORCE &source)
 
SMOMENTUMoperator= (const SVECTOR6 &source)
 
REAL dot (const SVELOCITY &s) const
 
SMOMENTUMoperator-= (const SFORCE &v)
 
SMOMENTUMoperator+= (const SFORCE &v)
 
SMOMENTUM operator- () const
 Returns the negation of this vector.
 
SMOMENTUMoperator-= (const SMOMENTUM &v)
 
SMOMENTUMoperator+= (const SMOMENTUM &v)
 
SMOMENTUM operator+ (const SMOMENTUM &v) const
 
SMOMENTUM operator+ (const SFORCE &v) const
 
SMOMENTUM operator- (const SMOMENTUM &v) const
 
SMOMENTUM operator- (const SFORCE &v) const
 
SMOMENTUM operator* (REAL scalar) const
 
SMOMENTUM operator/ (REAL scalar) const
 
 SMOMENTUM (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum with zero linear and angular components.
 
 SMOMENTUM (boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum with zero linear and angular components.
 
 SMOMENTUM (const SVECTOR6 &w)
 Constructs a spatial momentum from the SVector6.
 
 SMOMENTUM (REAL lx, REAL ly, REAL lz, REAL ax, REAL ay, REAL az, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum using six values- first three linear, second three angular- and a pose.
 
 SMOMENTUM (REAL lx, REAL ly, REAL lz, REAL ax, REAL ay, REAL az, boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum using six values- first three linear, second three angular- and a pose.
 
 SMOMENTUM (const REAL *array, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum using six values- first three linear, second three angular and a pose.
 
 SMOMENTUM (const REAL *array, boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum using six values- first three linear, second three angular and a pose.
 
 SMOMENTUM (const VECTOR3 &l, const VECTOR3 &a, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a spatial momentum using given linear and angular and pose.
 
 SMOMENTUM (const VECTOR3 &l, const VECTOR3 &a, boost::shared_ptr< POSE3 > pose)
 Constructs a spatial momentum using given linear and angular and pose.
 
void set_linear (const VECTOR3 &l)
 
void set_angular (const VECTOR3 &a)
 
VECTOR3 get_linear () const
 
VECTOR3 get_angular () const
 
SMOMENTUMoperator= (const SMOMENTUM &source)
 
SMOMENTUMoperator= (const SFORCE &source)
 
SMOMENTUMoperator= (const SVECTOR6 &source)
 
REAL dot (const SVELOCITY &s) const
 
SMOMENTUMoperator-= (const SFORCE &v)
 
SMOMENTUMoperator+= (const SFORCE &v)
 
SMOMENTUM operator- () const
 Returns the negation of this vector.
 
SMOMENTUMoperator-= (const SMOMENTUM &v)
 
SMOMENTUMoperator+= (const SMOMENTUM &v)
 
SMOMENTUM operator+ (const SMOMENTUM &v) const
 
SMOMENTUM operator+ (const SFORCE &v) const
 
SMOMENTUM operator- (const SMOMENTUM &v) const
 
SMOMENTUM operator- (const SFORCE &v) const
 
SMOMENTUM operator* (REAL scalar) const
 
SMOMENTUM 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
 
SVECTOR6set_zero ()
 
SVECTOR6set_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
 
SVECTOR6operator= (const SVECTOR6 &source)
 
REAL & operator[] (const unsigned i)
 
const REAL & operator[] (const unsigned i) const
 
REAL * data ()
 
const REAL * data () const
 
SVECTOR6 operator- () const
 
SVECTOR6operator/= (REAL scalar)
 
SVECTOR6operator*= (REAL scalar)
 
unsigned rows () const
 
unsigned columns () const
 
SVECTOR6resize (unsigned rows, unsigned columns)
 
SVECTOR6resize (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
 
SVECTOR6negate ()
 
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
 
SVECTOR6set_zero ()
 
SVECTOR6set_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
 
SVECTOR6operator= (const SVECTOR6 &source)
 
REAL & operator[] (const unsigned i)
 
const REAL & operator[] (const unsigned i) const
 
REAL * data ()
 
const REAL * data () const
 
SVECTOR6 operator- () const
 
SVECTOR6operator/= (REAL scalar)
 
SVECTOR6operator*= (REAL scalar)
 
unsigned rows () const
 
unsigned columns () const
 
SVECTOR6resize (unsigned rows, unsigned columns)
 
SVECTOR6resize (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
 
SVECTOR6negate ()
 
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 SMOMENTUM zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a zero spatial momentum.
 
static SMOMENTUM zero (boost::shared_ptr< POSE3 > pose)
 Constructs a zero spatial momentum.
 
template<class V >
static SMOMENTUM from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 
template<class V >
static SMOMENTUM from_vector (const V &v, boost::shared_ptr< POSE3 > pose)
 
static SMOMENTUM zero (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 Constructs a zero spatial momentum.
 
static SMOMENTUM zero (boost::shared_ptr< POSE3 > pose)
 Constructs a zero spatial momentum.
 
template<class V >
static SMOMENTUM from_vector (const V &v, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >())
 
template<class V >
static SMOMENTUM 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 SFORCE
 

Additional Inherited Members

- Public Attributes inherited from Ravelin::SVECTOR6
boost::shared_ptr< const POSE3pose
 The frame that this vector is defined in.
 
- Protected Attributes inherited from Ravelin::SVECTOR6
REAL _data [6]
 

Detailed Description

A spatial (six dimensional) momentum.


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