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Static Public Member Functions | List of all members
SPARITH Class Reference

Class for spatial arithmetic. More...

#include <SpatialArithmetic.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 MATRIXNmult (const std::vector< SMOMENTUM > &Is, const MATRIXN &m, MATRIXN &result)
 
static VECTORNmult (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 MATRIXNmult (const SPATIAL_AB_INERTIA &I, const std::vector< SVELOCITY > &s, MATRIXN &result)
 Multiplies a spatial inertia by a vector of spatial axes.
 
static std::vector< SMOMENTUM > & mult (const SPATIAL_RB_INERTIA &I, const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result)
 
static MATRIXNmult (const SPATIAL_RB_INERTIA &I, const std::vector< SVELOCITY > &s, MATRIXN &result)
 Multiplies a spatial inertia by a vector of spatial axes.
 
static VECTORNconcat (const VECTORN &v, const SFORCE &w, VECTORN &result)
 Concates a vector with a force to make a new vector.
 
static VECTORNconcat (const VECTORN &v, const SMOMENTUM &w, VECTORN &result)
 Concates a vector with a momentum to make a new vector.
 
static SVELOCITY mult (const std::vector< SVELOCITY > &a, const VECTORN &v)
 
static SACCEL transform_accel (boost::shared_ptr< const POSE3 > target, const SACCEL &a)
 Special transformation of acceleration when moving aspect of pose accounted for elsewhere.
 
static std::vector< SACCEL > & transform_accel (boost::shared_ptr< const POSE3 > target, const std::vector< SACCEL > &asrc, std::vector< SACCEL > &atgt)
 Special transformation of acceleration when moving aspect of pose accounted for elsewhere.
 
static void transform_accel (boost::shared_ptr< const POSE3 > target, const SACCEL &w, const VECTOR3 &r, const MATRIX3 &E, SACCEL &result)
 transforms a spatial acceleration using precomputation without accounting for moving frames
 

Detailed Description

Class for spatial arithmetic.


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