Ravelin::SPARITH Class Reference

Class for spatial arithmetic. More...

#include <SpatialArithmeticd.h>

Static Public Member Functions
template<class X >
static void	from_matrix (const X &m, std::vector< SVELOCITY > &w)
	Converts a matrix (type X) to a vector of spatial axes.
template<class X >
static X &	to_matrix (const std::vector< SVELOCITY > &w, X &m)
	Converts an STL vector of axes to a matrix (type X)
template<class X >
static X &	to_matrix (const std::vector< SFORCE > &w, X &m)
	Converts an STL vector of forces to a matrix (type X)
template<class X >
static X &	to_matrix (const std::vector< SMOMENTUM > &w, X &m)
	Converts an STL vector of momenta to a matrix (type X)
template<class X >
static X &	spatial_transpose_to_matrix (const std::vector< SMOMENTUM > &w, X &m)
	Converts an STL vector of momenta to a matrix (type X)
template<class X >
static X &	transpose_to_matrix (const std::vector< SVELOCITY > &t, X &m)
	Converts an STL vector of spatial velocities to a force matrix (type X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const std::vector< SFORCE > &w, X &result)
	Computes the "spatial dot product" between a vector of velocities and a vector of forces and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const SFORCE &w, X &result)
	Computes the "spatial dot product" between a vector of velocities and a force and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const SMOMENTUM &w, X &result)
	Computes the "spatial dot product" between a vector of velocities and a momentum and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const std::vector< SMOMENTUM > &w, X &result)
	Computes the "spatial dot product" between a vector of axes and a vector of momenta and returns the result in the matrix container (X)
template<class Y , class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const Y &y, X &result)
	Computes the "spatial dot product" between a vector of axes and a matrix or vector and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SMOMENTUM > &w, const SVELOCITY &t, X &result)
	Computes the "spatial dot product" between a vector of momenta and an axis and returns the result in the matrix container (X)
static MATRIXN &	mult (const std::vector< SMOMENTUM > &Is, const MATRIXN &m, MATRIXN &result)
static VECTORN &	mult (const std::vector< SMOMENTUM > &Is, const VECTORN &v, VECTORN &result)
static std::vector< SMOMENTUM > &	mult (const SPATIAL_AB_INERTIA &I, const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result)
static MATRIXN &	mult (const SPATIAL_AB_INERTIA &I, const std::vector< SVELOCITY > &s, MATRIXN &result)
static std::vector< SMOMENTUM > &	mult (const SPATIAL_RB_INERTIA &I, const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result)
static MATRIXN &	mult (const SPATIAL_RB_INERTIA &I, const std::vector< SVELOCITY > &s, MATRIXN &result)
static VECTORN &	concat (const VECTORN &v, const SFORCE &w, VECTORN &result)
static VECTORN &	concat (const VECTORN &v, const SMOMENTUM &w, VECTORN &result)
static SVELOCITY	mult (const std::vector< SVELOCITY > &a, const VECTORN &v)
static SACCEL	transform_accel (boost::shared_ptr< const POSE3 > target, const SACCEL &a)
static std::vector< SACCEL > &	transform_accel (boost::shared_ptr< const POSE3 > target, const std::vector< SACCEL > &asrc, std::vector< SACCEL > &atgt)
static void	transform_accel (boost::shared_ptr< const POSE3 > target, const SACCEL &w, const VECTOR3 &r, const MATRIX3 &E, SACCEL &result)
template<class X >
static void	from_matrix (const X &m, std::vector< SVELOCITY > &w)
	Converts a matrix (type X) to a vector of spatial axes.
template<class X >
static X &	to_matrix (const std::vector< SVELOCITY > &w, X &m)
	Converts an STL vector of axes to a matrix (type X)
template<class X >
static X &	to_matrix (const std::vector< SFORCE > &w, X &m)
	Converts an STL vector of forces to a matrix (type X)
template<class X >
static X &	to_matrix (const std::vector< SMOMENTUM > &w, X &m)
	Converts an STL vector of momenta to a matrix (type X)
template<class X >
static X &	spatial_transpose_to_matrix (const std::vector< SMOMENTUM > &w, X &m)
	Converts an STL vector of momenta to a matrix (type X)
template<class X >
static X &	transpose_to_matrix (const std::vector< SVELOCITY > &t, X &m)
	Converts an STL vector of spatial velocities to a force matrix (type X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const std::vector< SFORCE > &w, X &result)
	Computes the "spatial dot product" between a vector of velocities and a vector of forces and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const SFORCE &w, X &result)
	Computes the "spatial dot product" between a vector of velocities and a force and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const SMOMENTUM &w, X &result)
	Computes the "spatial dot product" between a vector of velocities and a momentum and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const std::vector< SMOMENTUM > &w, X &result)
	Computes the "spatial dot product" between a vector of axes and a vector of momenta and returns the result in the matrix container (X)
template<class Y , class X >
static X &	transpose_mult (const std::vector< SVELOCITY > &t, const Y &y, X &result)
	Computes the "spatial dot product" between a vector of axes and a matrix or vector and returns the result in the matrix container (X)
template<class X >
static X &	transpose_mult (const std::vector< SMOMENTUM > &w, const SVELOCITY &t, X &result)
	Computes the "spatial dot product" between a vector of momenta and an axis and returns the result in the matrix container (X)
static MATRIXN &	mult (const std::vector< SMOMENTUM > &Is, const MATRIXN &m, MATRIXN &result)
static VECTORN &	mult (const std::vector< SMOMENTUM > &Is, const VECTORN &v, VECTORN &result)
static std::vector< SMOMENTUM > &	mult (const SPATIAL_AB_INERTIA &I, const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result)
static MATRIXN &	mult (const SPATIAL_AB_INERTIA &I, const std::vector< SVELOCITY > &s, MATRIXN &result)
static std::vector< SMOMENTUM > &	mult (const SPATIAL_RB_INERTIA &I, const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result)
static MATRIXN &	mult (const SPATIAL_RB_INERTIA &I, const std::vector< SVELOCITY > &s, MATRIXN &result)
static VECTORN &	concat (const VECTORN &v, const SFORCE &w, VECTORN &result)
static VECTORN &	concat (const VECTORN &v, const SMOMENTUM &w, VECTORN &result)
static SVELOCITY	mult (const std::vector< SVELOCITY > &a, const VECTORN &v)
static SACCEL	transform_accel (boost::shared_ptr< const POSE3 > target, const SACCEL &a)
static std::vector< SACCEL > &	transform_accel (boost::shared_ptr< const POSE3 > target, const std::vector< SACCEL > &asrc, std::vector< SACCEL > &atgt)
static void	transform_accel (boost::shared_ptr< const POSE3 > target, const SACCEL &w, const VECTOR3 &r, const MATRIX3 &E, SACCEL &result)

Detailed Description

Class for spatial arithmetic.

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

• /home/drum/Ravelin.new/include/Ravelin/SpatialArithmeticd.h
• /home/drum/Ravelin.new/include/Ravelin/SpatialArithmeticf.h