A 6x6 spatial algebra matrix typically used for dynamics calculations. More...

#include <SpatialABInertia.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 ()
	Creates a zero matrix.

SACCEL	inverse_mult (const SFORCE &f) const
	Multiplies the inverse of this spatial AB inertia by a force to yield an acceleration.

SVELOCITY	inverse_mult (const SMOMENTUM &m) const
	Multiplies the inverse of this spatial RB inertia by a momentum to yield a velocity.

std::vector< SACCEL > &	inverse_mult (const std::vector< SFORCE > &w, std::vector< SACCEL > &result) const

SPATIAL_AB_INERTIA &	operator= (const SPATIAL_RB_INERTIA &source)
	Copies a spatial RB inertia to this one.

SPATIAL_AB_INERTIA &	operator= (const SPATIAL_AB_INERTIA &source)
	Copies a spatial AB inertia to this one.

SPATIAL_AB_INERTIA &	operator+= (const SPATIAL_AB_INERTIA &m)
	Adds m to this in place.

SPATIAL_AB_INERTIA &	operator-= (const SPATIAL_AB_INERTIA &m)
	Subtracts m from this in place.

SPATIAL_AB_INERTIA &	*operator=** (const SPATIAL_AB_INERTIA &m)

SPATIAL_AB_INERTIA &	operator*= (REAL scalar)
	Multiplies this matrix by a scalar in place.

SPATIAL_AB_INERTIA &	operator/= (REAL scalar)

SPATIAL_RB_INERTIA	to_rb_inertia () const
	Converts this matrix to a spatial RB inertia.

SPATIAL_AB_INERTIA	operator+ (const SPATIAL_RB_INERTIA &m) const
	Adds a spatial articulated body inertia and a spatial rigid body inertia.

SPATIAL_AB_INERTIA &	operator+= (const SPATIAL_RB_INERTIA &m)

SPATIAL_AB_INERTIA	operator+ (const SPATIAL_AB_INERTIA &m) const
	Adds two spatial matrices.

SPATIAL_AB_INERTIA	operator- (const SPATIAL_AB_INERTIA &m) const
	Subtracts two spatial matrices.

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
	Multiplies this matrix by an acceleration and returns the result in a force.

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
	Multiplies this matrix by a velocity and returns the result in a momentum.

std::vector< SMOMENTUM > &	mult (const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result) const

SPATIAL_AB_INERTIA	operator- () const
	Returns the negation of this matrix.

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 >())

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.

Detailed Description

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 |

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

/home/drum/Ravelin.new/include/Ravelin/SpatialABInertia.h
/home/drum/Ravelin.new/src/SpatialABInertia.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description