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Ravelin
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A 6x6 spatial algebra matrix used for dynamics calculations. More...
#include <SpatialRBInertia.h>
Public Member Functions | |
| SPATIAL_RB_INERTIA (boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| SPATIAL_RB_INERTIA (boost::shared_ptr< POSE3 > pose) | |
| SPATIAL_RB_INERTIA (REAL m, const VECTOR3 &h, const MATRIX3 &J, boost::shared_ptr< const POSE3 > pose=boost::shared_ptr< const POSE3 >()) | |
| SPATIAL_RB_INERTIA (REAL m, const VECTOR3 &h, const MATRIX3 &J, boost::shared_ptr< POSE3 > pose) | |
| SPATIAL_RB_INERTIA (const SPATIAL_RB_INERTIA &source) | |
| void | set_zero () |
| Creates a zero matrix. | |
| SACCEL | inverse_mult (const SFORCE &v) const |
| Multiplies the inverse of this spatial matrix by a force. | |
| SVELOCITY | inverse_mult (const SMOMENTUM &m) const |
| Multiplies the inverse of this spatial matrix by a momentum. | |
| std::vector< SACCEL > & | inverse_mult (const std::vector< SFORCE > &v, std::vector< SACCEL > &result) const |
| Multiplies the inverse of this spatial matrix by a force. | |
| SPATIAL_RB_INERTIA & | operator= (const SPATIAL_RB_INERTIA &source) |
| Copies a spatial matrix to this one. | |
| SPATIAL_RB_INERTIA & | operator+= (const SPATIAL_RB_INERTIA &m) |
| Adds m to this in place. | |
| SPATIAL_RB_INERTIA & | operator-= (const SPATIAL_RB_INERTIA &m) |
| Subtracts m from this in place. | |
| SPATIAL_RB_INERTIA & | operator*= (const SPATIAL_RB_INERTIA &m) |
| SPATIAL_RB_INERTIA & | operator*= (REAL scalar) |
| SPATIAL_RB_INERTIA & | operator/= (REAL scalar) |
| SPATIAL_RB_INERTIA | operator+ (const SPATIAL_RB_INERTIA &m) const |
| Adds two spatial matrices. | |
| SPATIAL_RB_INERTIA | operator- (const SPATIAL_RB_INERTIA &m) const |
| Subtracts two spatial matrices. | |
| SPATIAL_RB_INERTIA | operator* (const SPATIAL_RB_INERTIA &m) const |
| SPATIAL_RB_INERTIA | operator* (REAL scalar) const |
| SPATIAL_RB_INERTIA | operator/ (REAL scalar) const |
| SFORCE | operator* (const SACCEL &s) const |
| Multiplies this inertia by an acceleration and returns a force. | |
| std::vector< SFORCE > & | mult (const std::vector< SACCEL > &s, std::vector< SFORCE > &result) const |
| Multiplies this inertia by a vector of accelerations and returns a vector of forces. | |
| SMOMENTUM | operator* (const SVELOCITY &s) const |
| Multiplies this inertia by a velocity and returns a momentum. | |
| SMOMENTUM | mult (const SVELOCITY &s) const |
| std::vector< SMOMENTUM > & | mult (const std::vector< SVELOCITY > &s, std::vector< SMOMENTUM > &result) const |
| Multiplies this inertia by a vector of accelerations and returns a vector of forces. | |
| SPATIAL_RB_INERTIA | operator- () const |
| Returns the negation of this matrix. | |
| template<class Mat > | |
| Mat & | to_matrix (Mat &M) const |
| Converts this to a matrix. | |
| template<class Mat > | |
| Mat & | to_PD_matrix (Mat &M) const |
| Converts this to a positive-definite matrix. | |
Static Public Member Functions | |
| static SPATIAL_RB_INERTIA | zero () |
Public Attributes | |
| REAL | m |
| The rigid body mass. | |
| ORIGIN3 | h |
| The position of the center-of-mass times the mass. | |
| MATRIX3 | J |
| The rigid body moment of inertia matrix. | |
| boost::shared_ptr< const POSE3 > | pose |
| The pose that this inertia is defined in. | |
A 6x6 spatial algebra matrix used for dynamics calculations.
The matrix is represented by: | -hx*m I*m | | J - hx*hx*m hx*m | where hx is the skew symmetric matrix determined by h (h is the vector from the origin of the reference frame to the center of mass) and I is the identity matrix. The inverse of this matrix is: | -inv(J)*hx inv(J) | | I/m - hx*inv(J)*hx hx*inv(J) |
1.8.6