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

Momentum is mass/inertia multiplied by velocity. More...

#include <Momentum.hpp>

Inheritance diagram for RobotDynamics::Math::Momentum:

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Collaboration diagram for RobotDynamics::Math::Momentum:

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Public Member Functions
	Momentum ()

	Momentum (const double kx, const double ky, const double kz, const double lx, const double ly, const double lz)

	Momentum (const Vector3d &k, const Vector3d l)

	Momentum (const Momentum &momentum)

	Momentum (const ForceVector &forceVector)

Momentum &	operator= (const Momentum &m)

	Momentum (const RigidBodyInertia &inertia, const MotionVector &vector)

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

EIGEN_STRONG_INLINE double &	kx ()

EIGEN_STRONG_INLINE double &	ky ()

EIGEN_STRONG_INLINE double &	kz ()

EIGEN_STRONG_INLINE double	kx () const

EIGEN_STRONG_INLINE double	ky () const

EIGEN_STRONG_INLINE double	kz () const

EIGEN_STRONG_INLINE double &	lx ()

EIGEN_STRONG_INLINE double &	ly ()

EIGEN_STRONG_INLINE double &	lz ()

EIGEN_STRONG_INLINE double	lx () const

EIGEN_STRONG_INLINE double	ly () const

EIGEN_STRONG_INLINE double	lz () const

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

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

EIGEN_STRONG_INLINE double	operator* (const MotionVector &vector)
	Operator for computing kinetic energy. With momentum, and Math::MotionVector, this performs performs $\frac{m\cdot v}{2}$ . More...

Public Member Functions inherited from RobotDynamics::Math::ForceVector
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...

Static Public Member Functions
static Momentum	computeMomentum (const RigidBodyInertia &I, const MotionVector &v)
	Computes momentum from inertia and velocity. More...

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

Detailed Description

Momentum is mass/inertia multiplied by velocity.

Constructor & Destructor Documentation

◆ Momentum() [1/6]

RobotDynamics::Math::Momentum::Momentum ( )

inline

◆ Momentum() [2/6]

RobotDynamics::Math::Momentum::Momentum	(	const double	kx,
		const double	ky,
		const double	kz,
		const double	lx,
		const double	ly,
		const double	lz
	)

inline

◆ Momentum() [3/6]

RobotDynamics::Math::Momentum::Momentum	(	const Vector3d &	k,
		const Vector3d	l
	)

inline

◆ Momentum() [4/6]

RobotDynamics::Math::Momentum::Momentum ( const Momentum & momentum )

inline

◆ Momentum() [5/6]

RobotDynamics::Math::Momentum::Momentum ( const ForceVector & forceVector )

inlineexplicit

◆ Momentum() [6/6]

RobotDynamics::Math::Momentum::Momentum	(	const RigidBodyInertia &	inertia,
		const MotionVector &	vector
	)

inline

Member Function Documentation

◆ computeMomentum()

static Momentum RobotDynamics::Math::Momentum::computeMomentum	(	const RigidBodyInertia &	I,
		const MotionVector &	v
	)

inlinestatic

Computes momentum from inertia and velocity.

Parameters

I
v

◆ kx() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::kx ( )

inline

◆ kx() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::kx ( ) const

inline

◆ ky() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::ky ( )

inline

◆ ky() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::ky ( ) const

inline

◆ kz() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::kz ( )

inline

◆ kz() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::kz ( ) const

inline

◆ lx() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::lx ( )

inline

◆ lx() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::lx ( ) const

inline

◆ ly() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::ly ( )

inline

◆ ly() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::ly ( ) const

inline

◆ lz() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::Momentum::lz ( )

inline

◆ lz() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::lz ( ) const

inline

◆ operator*()

EIGEN_STRONG_INLINE double RobotDynamics::Math::Momentum::operator* ( const MotionVector & vector )

inline

Operator for computing kinetic energy. With momentum, $ m $ and Math::MotionVector, $ v $ this performs performs $\frac{m\cdot v}{2}$ .

Parameters

vector

Returns: kinetic energy

◆ operator+=()

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

inline

Overloaded plus-equals operator.

Returns

◆ operator-=()

Momentum RobotDynamics::Math::Momentum::operator-= ( const Momentum & v )

inline

Overloaded plus-equals operator.

Returns

◆ operator=()

Momentum& RobotDynamics::Math::Momentum::operator= ( const Momentum & m )

inline

◆ transform_copy()

Momentum RobotDynamics::Math::Momentum::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/Momentum.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Momentum() [1/6]

◆ Momentum() [2/6]

◆ Momentum() [3/6]

◆ Momentum() [4/6]

◆ Momentum() [5/6]

◆ Momentum() [6/6]

Member Function Documentation

◆ computeMomentum()

◆ kx() [1/2]

◆ kx() [2/2]

◆ ky() [1/2]

◆ ky() [2/2]

◆ kz() [1/2]

◆ kz() [2/2]

◆ lx() [1/2]

◆ lx() [2/2]

◆ ly() [1/2]

◆ ly() [2/2]

◆ lz() [1/2]

◆ lz() [2/2]

◆ operator*()

◆ operator+=()

◆ operator-=()

◆ operator=()

◆ transform_copy()