Robot Dynamics Library: RobotDynamics::Math::ForceVector Class Reference

A ForceVector is a SpatialVector containing 3 moments and 3 linear forces. More...

#include <ForceVector.hpp>

Inheritance diagram for RobotDynamics::Math::ForceVector:

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Collaboration diagram for RobotDynamics::Math::ForceVector:

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Public Member Functions
template<typename OtherDerived >
	ForceVector (const Eigen::MatrixBase< OtherDerived > &other)
	Constructor. More...

template<typename OtherDerived >
ForceVector &	operator= (const Eigen::MatrixBase< OtherDerived > &other)

EIGEN_STRONG_INLINE	ForceVector ()
	Empty constructor. More...

EIGEN_STRONG_INLINE SpatialVector	toSpatialVector () const
	Get a copy of a ForceVector as type SpatialVector. More...

	ForceVector (const double mx, const double my, const double mz, const double fx, const double fy, const double fz)
	Constructor. More...

EIGEN_STRONG_INLINE void	set (const ForceVector &f)
	Setter. More...

EIGEN_STRONG_INLINE double &	mx ()
	Get reference to x-angular component. More...

EIGEN_STRONG_INLINE double &	my ()
	Get reference to y-angular component. More...

EIGEN_STRONG_INLINE double &	mz ()
	Get reference to z-angular component. More...

EIGEN_STRONG_INLINE double	mx () const
	Get copy of x-angular component. More...

EIGEN_STRONG_INLINE double	my () const
	Get copy of y-angular component. More...

EIGEN_STRONG_INLINE double	mz () const
	Get copy of z-angular component. More...

EIGEN_STRONG_INLINE double &	fx ()
	Get reference to x-linear component. More...

EIGEN_STRONG_INLINE double &	fy ()
	Get reference to y-linear component. More...

EIGEN_STRONG_INLINE double &	fz ()
	Get reference to z-linear component. More...

EIGEN_STRONG_INLINE double	fx () const
	Get copy of x-linear component. More...

EIGEN_STRONG_INLINE double	fy () const
	Get copy of y-linear component. More...

EIGEN_STRONG_INLINE double	fz () const
	Get copy of z-linear component. More...

void	transform (const SpatialTransform &X)
	Performs the following in place transform. More...

ForceVector	transform_copy (const SpatialTransform &X) const
	Copy then transform a ForceVector by. More...

ForceVector	operator+= (const ForceVector &v)
	Overloaded plus-equals operator. More...

Public Member Functions inherited from RobotDynamics::Math::SpatialVector
template<typename OtherDerived >
	SpatialVector (const Eigen::MatrixBase< OtherDerived > &other)

template<typename OtherDerived >
SpatialVector &	operator= (const Eigen::MatrixBase< OtherDerived > &other)

EIGEN_STRONG_INLINE	SpatialVector ()

EIGEN_STRONG_INLINE	SpatialVector (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)

EIGEN_STRONG_INLINE	SpatialVector (const Vector3d &angularPart, const Vector3d &linearPart)

EIGEN_STRONG_INLINE void	set (const double &v0, const double &v1, const double &v2, const double &v3, const double &v4, const double &v5)

EIGEN_STRONG_INLINE Vector3d	getAngularPart () const

EIGEN_STRONG_INLINE Vector3d	getLinearPart () const

void	zeroAngularPart ()

void	zeroLinearPart ()

void	setAngularPart (const Vector3d &v)

void	setAngularPart (double x, double y, double z)

void	setLinearPart (const Vector3d &v)

void	setLinearPart (double x, double y, double z)

EIGEN_STRONG_INLINE void	set (const Vector3d &angularPart, const Vector3d &linearPart)

SpatialMatrix	crossm ()
	Get the spatial motion cross matrix. More...

SpatialVector	crossm (const SpatialVector &v)
	Spatial motion cross times spatial motion. More...

SpatialMatrix	crossf ()
	Get the spatial force cross matrix. More...

SpatialVector	crossf (const SpatialVector &v)
	Spatial motion cross spatial force. More...

Additional Inherited Members
Public Types inherited from RobotDynamics::Math::SpatialVector
typedef Eigen::Matrix< double, 6, 1 >	Base

Detailed Description

A ForceVector is a SpatialVector containing 3 moments and 3 linear forces.

Constructor & Destructor Documentation

◆ ForceVector() [1/3]

template<typename OtherDerived >

RobotDynamics::Math::ForceVector::ForceVector ( const Eigen::MatrixBase< OtherDerived > & other )

inline

Constructor.

Parameters

other

◆ ForceVector() [2/3]

EIGEN_STRONG_INLINE RobotDynamics::Math::ForceVector::ForceVector ( )

inline

Empty constructor.

◆ ForceVector() [3/3]

RobotDynamics::Math::ForceVector::ForceVector	(	const double	mx,
		const double	my,
		const double	mz,
		const double	fx,
		const double	fy,
		const double	fz
	)

inline

Constructor.

Parameters

mx	x-Moment
my	y-Moment
mz	z-Moment
fx	x-Linear Force
fy	y-Linear Force
fz	z-Linear Force

Member Function Documentation

◆ fx() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::fx ( )

inline

Get reference to x-linear component.

Returns: Reference to x-linear component

◆ fx() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::fx ( ) const

inline

Get copy of x-linear component.

Returns: Copy of x-linear component

◆ fy() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::fy ( )

inline

Get reference to y-linear component.

Returns: Reference to y-linear component

◆ fy() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::fy ( ) const

inline

Get copy of y-linear component.

Returns: Copy of y-linear component

◆ fz() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::fz ( )

inline

Get reference to z-linear component.

Returns: Reference to z-linear component

◆ fz() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::fz ( ) const

inline

Get copy of z-linear component.

Returns: Copy of z-linear component

◆ mx() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::mx ( )

inline

Get reference to x-angular component.

Returns: Reference to x-angular component

◆ mx() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::mx ( ) const

inline

Get copy of x-angular component.

Returns: Copy of x-angular component

◆ my() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::my ( )

inline

Get reference to y-angular component.

Returns: Reference to y-angular component

◆ my() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::my ( ) const

inline

Get copy of y-angular component.

Returns: Copy of y-angular component

◆ mz() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::ForceVector::mz ( )

inline

Get reference to z-angular component.

Returns: Reference to z-angular component

◆ mz() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::ForceVector::mz ( ) const

inline

Get copy of z-angular component.

Returns: Copy of z-angular component

◆ operator+=()

ForceVector RobotDynamics::Math::ForceVector::operator+= ( const ForceVector & v )

inline

Overloaded plus-equals operator.

Returns

◆ operator=()

template<typename OtherDerived >

ForceVector& RobotDynamics::Math::ForceVector::operator= ( const Eigen::MatrixBase< OtherDerived > & other )

inline

Overloaded equal operator

Parameters

other

Returns: Copied ForceVector

◆ set()

EIGEN_STRONG_INLINE void RobotDynamics::Math::ForceVector::set ( const ForceVector & f )

inline

Setter.

Parameters

◆ toSpatialVector()

EIGEN_STRONG_INLINE SpatialVector RobotDynamics::Math::ForceVector::toSpatialVector ( ) const

inline

Get a copy of a ForceVector as type SpatialVector.

◆ transform()

void RobotDynamics::Math::ForceVector::transform ( const SpatialTransform & X )

inlinevirtual

Performs the following in place transform.

$f = \begin{bmatrix} X.E & -X.E(X.r\times) \\ \mathbf{0} & X.E \end{bmatrix} f$

Parameters

Implements RobotDynamics::Math::TransformableGeometricObject.

◆ transform_copy()

ForceVector RobotDynamics::Math::ForceVector::transform_copy ( const SpatialTransform & X ) const

inline

Copy then transform a ForceVector by.

$f_2 = \begin{bmatrix} X.E & -X.E(X.r\times) \\ \mathbf{0} & X.E \end{bmatrix} f_1$

Parameters

Returns: Copied, transformed ForceVector

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

rdl_dynamics/include/rdl_dynamics/ForceVector.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ForceVector() [1/3]

◆ ForceVector() [2/3]

◆ ForceVector() [3/3]

Member Function Documentation

◆ fx() [1/2]

◆ fx() [2/2]

◆ fy() [1/2]

◆ fy() [2/2]

◆ fz() [1/2]

◆ fz() [2/2]

◆ mx() [1/2]

◆ mx() [2/2]

◆ my() [1/2]

◆ my() [2/2]

◆ mz() [1/2]

◆ mz() [2/2]

◆ operator+=()

◆ operator=()

◆ set()

◆ toSpatialVector()

◆ transform()

◆ transform_copy()