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Ravelin
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A 6x6 spatial algebra matrix typically used for dynamics calculations. More...
#include <SpatialABInertiad.h>
Public Member Functions | |
| SPATIAL_AB_INERTIA (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| SPATIAL_AB_INERTIA (boost::shared_ptr< POSE3 > pose) | |
| SPATIAL_AB_INERTIA (const MATRIX3 &M, const MATRIX3 &H, const MATRIX3 &J, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| SPATIAL_AB_INERTIA (const MATRIX3 &M, const MATRIX3 &H, const MATRIX3 &J, boost::shared_ptr< POSE3 > pose=boost::shared_ptr< POSE3 >()) | |
| SPATIAL_AB_INERTIA (const SPATIAL_AB_INERTIA &source) | |
| SPATIAL_AB_INERTIA (const SPATIAL_RB_INERTIA &source) | |
| void | set_zero () |
| SACCEL | inverse_mult (const SFORCE &f) const |
| SVELOCITY | inverse_mult (const SMOMENTUM &m) const |
| std::vector< SACCEL > & | inverse_mult (const std::vector< SFORCE > &w, std::vector< SACCEL > &result) const |
| SPATIAL_AB_INERTIA & | operator= (const SPATIAL_RB_INERTIA &source) |
| SPATIAL_AB_INERTIA & | operator= (const SPATIAL_AB_INERTIA &source) |
| SPATIAL_AB_INERTIA & | operator+= (const SPATIAL_AB_INERTIA &m) |
| SPATIAL_AB_INERTIA & | operator-= (const SPATIAL_AB_INERTIA &m) |
| SPATIAL_AB_INERTIA & | operator*= (const SPATIAL_AB_INERTIA &m) |
| SPATIAL_AB_INERTIA & | operator*= (REAL scalar) |
| SPATIAL_AB_INERTIA & | operator/= (REAL scalar) |
| SPATIAL_RB_INERTIA | to_rb_inertia () const |
| SPATIAL_AB_INERTIA | operator+ (const SPATIAL_RB_INERTIA &m) const |
| SPATIAL_AB_INERTIA & | operator+= (const SPATIAL_RB_INERTIA &m) |
| SPATIAL_AB_INERTIA | operator+ (const SPATIAL_AB_INERTIA &m) const |
| SPATIAL_AB_INERTIA | operator- (const SPATIAL_AB_INERTIA &m) const |
| SPATIAL_AB_INERTIA | operator* (const SPATIAL_AB_INERTIA &m) const |
| SPATIAL_AB_INERTIA | operator* (REAL scalar) const |
| SPATIAL_AB_INERTIA | operator/ (REAL scalar) const |
| SFORCE | operator* (const SACCEL &s) const |
| SFORCE | mult (const SACCEL &s) const |
| std::vector< SFORCE > & | mult (const std::vector< SACCEL > &s, std::vector< SFORCE > &result) const |
| SMOMENTUM | operator* (const SVELOCITY &s) const |
| SMOMENTUM | mult (const SVELOCITY &s) const |
| std::vector< SMOMENTUM > & | mult (const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result) const |
| SPATIAL_AB_INERTIA | operator- () const |
| template<class Mat > | |
| Mat & | to_matrix (Mat &m) const |
| SPATIAL_AB_INERTIA (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| SPATIAL_AB_INERTIA (boost::shared_ptr< POSE3 > pose) | |
| SPATIAL_AB_INERTIA (const MATRIX3 &M, const MATRIX3 &H, const MATRIX3 &J, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| SPATIAL_AB_INERTIA (const MATRIX3 &M, const MATRIX3 &H, const MATRIX3 &J, boost::shared_ptr< POSE3 > pose=boost::shared_ptr< POSE3 >()) | |
| SPATIAL_AB_INERTIA (const SPATIAL_AB_INERTIA &source) | |
| SPATIAL_AB_INERTIA (const SPATIAL_RB_INERTIA &source) | |
| void | set_zero () |
| SACCEL | inverse_mult (const SFORCE &f) const |
| SVELOCITY | inverse_mult (const SMOMENTUM &m) const |
| std::vector< SACCEL > & | inverse_mult (const std::vector< SFORCE > &w, std::vector< SACCEL > &result) const |
| SPATIAL_AB_INERTIA & | operator= (const SPATIAL_RB_INERTIA &source) |
| SPATIAL_AB_INERTIA & | operator= (const SPATIAL_AB_INERTIA &source) |
| SPATIAL_AB_INERTIA & | operator+= (const SPATIAL_AB_INERTIA &m) |
| SPATIAL_AB_INERTIA & | operator-= (const SPATIAL_AB_INERTIA &m) |
| SPATIAL_AB_INERTIA & | operator*= (const SPATIAL_AB_INERTIA &m) |
| SPATIAL_AB_INERTIA & | operator*= (REAL scalar) |
| SPATIAL_AB_INERTIA & | operator/= (REAL scalar) |
| SPATIAL_RB_INERTIA | to_rb_inertia () const |
| SPATIAL_AB_INERTIA | operator+ (const SPATIAL_RB_INERTIA &m) const |
| SPATIAL_AB_INERTIA & | operator+= (const SPATIAL_RB_INERTIA &m) |
| SPATIAL_AB_INERTIA | operator+ (const SPATIAL_AB_INERTIA &m) const |
| SPATIAL_AB_INERTIA | operator- (const SPATIAL_AB_INERTIA &m) const |
| SPATIAL_AB_INERTIA | operator* (const SPATIAL_AB_INERTIA &m) const |
| SPATIAL_AB_INERTIA | operator* (REAL scalar) const |
| SPATIAL_AB_INERTIA | operator/ (REAL scalar) const |
| SFORCE | operator* (const SACCEL &s) const |
| SFORCE | mult (const SACCEL &s) const |
| std::vector< SFORCE > & | mult (const std::vector< SACCEL > &s, std::vector< SFORCE > &result) const |
| SMOMENTUM | operator* (const SVELOCITY &s) const |
| SMOMENTUM | mult (const SVELOCITY &s) const |
| std::vector< SMOMENTUM > & | mult (const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result) const |
| SPATIAL_AB_INERTIA | operator- () const |
| template<class Mat > | |
| Mat & | to_matrix (Mat &m) const |
Static Public Member Functions | |
| static SPATIAL_AB_INERTIA | zero () |
| static SPATIAL_AB_INERTIA | inverse_inertia (const SPATIAL_AB_INERTIA &I) |
| template<class Mat > | |
| static SPATIAL_AB_INERTIA | from_matrix (const Mat &m, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| template<class Mat > | |
| static SPATIAL_AB_INERTIA | from_matrix (const Mat &m, boost::shared_ptr< POSE3 > pose=boost::shared_ptr< POSE3 >()) |
| static SPATIAL_AB_INERTIA | zero () |
| static SPATIAL_AB_INERTIA | inverse_inertia (const SPATIAL_AB_INERTIA &I) |
| template<class Mat > | |
| static SPATIAL_AB_INERTIA | from_matrix (const Mat &m, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) |
| template<class Mat > | |
| static SPATIAL_AB_INERTIA | from_matrix (const Mat &m, boost::shared_ptr< POSE3 > pose=boost::shared_ptr< POSE3 >()) |
Public Attributes | |
| MATRIX3 | H |
| The lower right hand matrix 'H' (and transpose of upper left matrix) | |
| MATRIX3 | J |
| The lower left matrix. | |
| MATRIX3 | M |
| The upper right matrix. | |
| boost::shared_ptr< const POSE3 > | pose |
| The pose that this inertia is defined in. | |
A 6x6 spatial algebra matrix typically used for dynamics calculations.
Note: this representation differs from Featherstone's new spatial AB inertia representation: | H' M | | J H |
1.8.6