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SMOMENTUM Class Reference

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

#include <SMomentum.h>

Inheritance diagram for SMOMENTUM:
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
 
- Public Member Functions inherited from SVECTOR6
 SVECTOR6 ()
 Constructs a zero vector.
 
 SVECTOR6 (boost::shared_ptr< const POSE3 > pose)
 Constructs a zero vector relative to the given pose.
 
 SVECTOR6 (boost::shared_ptr< POSE3 > pose)
 
 SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c)
 Constructs this vector with the given values.
 
 SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< const POSE3 > pose)
 Constructs this vector with the given values.
 
 SVECTOR6 (REAL x, REAL y, REAL z, REAL a, REAL b, REAL c, boost::shared_ptr< POSE3 > pose)
 
 SVECTOR6 (const REAL *array)
 Constructs this vector from the given array. More...
 
 SVECTOR6 (const REAL *array, boost::shared_ptr< const POSE3 > pose)
 Constructs this vector from the given array. More...
 
 SVECTOR6 (const REAL *array, boost::shared_ptr< POSE3 > pose)
 
 SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower)
 Constructs the given spatial vector with given upper and lower components.
 
 SVECTOR6 (const VECTOR3 &upper, const VECTOR3 &lower, boost::shared_ptr< const POSE3 > pose)
 Constructs the given spatial vector with given upper and lower components.
 
 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)
 Sets the lower 3-dimensional vector.
 
void set_upper (const VECTOR3 &upper)
 Sets the upper 3-dimensional vector.
 
VECTOR3 get_lower () const
 Gets the lower 3-dimensional vector.
 
VECTOR3 get_upper () const
 Gets the upper 3-dimensional vector.
 
SVECTOR6operator= (const SVECTOR6 &source)
 Copies this vector from another SVECTOR6.
 
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)
 Multiplies this vector by a scalar in place.
 
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 ()
 Gets an iterator to the beginning of the data.
 
CONST_COLUMN_ITERATOR column_iterator_begin () const
 Gets an iterator to the beginning of the data.
 
COLUMN_ITERATOR column_iterator_end ()
 Gets an iterator to the end of the data.
 
CONST_COLUMN_ITERATOR column_iterator_end () const
 Gets an iterator to the end of the data.
 
ROW_ITERATOR row_iterator_begin ()
 Gets an iterator to the beginning of the data.
 
CONST_ROW_ITERATOR row_iterator_begin () const
 Gets an iterator to the beginning of the data.
 
ROW_ITERATOR row_iterator_end ()
 Gets an iterator to the end of the data.
 
CONST_ROW_ITERATOR row_iterator_end () const
 Gets an iterator to the end of the data.
 
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 Public Member Functions inherited from 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 >())
 

Friends

class SFORCE
 

Additional Inherited Members

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

Detailed Description

A spatial (six dimensional) momentum.


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