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

#include <MotionVector.hpp>

Inheritance diagram for RobotDynamics::Math::MotionVector:

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Collaboration diagram for RobotDynamics::Math::MotionVector:

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

	MotionVector (const MotionVector &v)

MotionVector &	operator= (const MotionVector &other)
	Overload equal operator. More...

EIGEN_STRONG_INLINE	MotionVector ()
	Empty constructor. More...

	MotionVector (const double v0, const double v1, const double v2, const double v3, const double v4, const double v5)
	Constructor. More...

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

EIGEN_STRONG_INLINE void	set (const MotionVector &v)
	Setter. More...

EIGEN_STRONG_INLINE double &	wx ()
	Get a reference to the angular-x component. More...

EIGEN_STRONG_INLINE double &	wy ()
	Get a reference to the angular-y component. More...

EIGEN_STRONG_INLINE double &	wz ()
	Get a reference to the angular-z component. More...

EIGEN_STRONG_INLINE double	wx () const
	Get a copy of the angular-x component. More...

EIGEN_STRONG_INLINE double	wy () const
	Get a copy of the angular-y component. More...

EIGEN_STRONG_INLINE double	wz () const
	Get a copy of the angular-z component. More...

EIGEN_STRONG_INLINE double &	vx ()
	Get a reference to the linear-x component. More...

EIGEN_STRONG_INLINE double &	vy ()
	Get a reference to the linear-y component. More...

EIGEN_STRONG_INLINE double &	vz ()
	Get a reference to the linear-z component. More...

EIGEN_STRONG_INLINE double	vx () const
	Get a copy of the linear-x component. More...

EIGEN_STRONG_INLINE double	vy () const
	Get a copy of the linear-y component. More...

EIGEN_STRONG_INLINE double	vz () const
	Get a copy of the linear-z component. More...

void	transform (const SpatialTransform &X)
	Transforms a motion vector. Performs . More...

MotionVector	transform_copy (const SpatialTransform &X) const
	Copies, transforms, and returns a MotionVector. Performs . More...

MotionVector	cross (const MotionVector &v)
	See V. Duindum thesis p.25 for an explanation of what operator is. It is also in Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times$ operator for spatial vectors. Given two SpatialMotion vectors, and , this method returns $v_3 = (v_1\times) v_2$ . Expanded, it looks like,. More...

ForceVector	cross (const ForceVector &v)
	See Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times $ operator for spatial vectors. Given a SpatialMotion vector, , and SpatialForceVector, , this method returns $f_2 = (v_1\times ) f_1$ . Expanded, it looks like,. More...

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

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

MotionVector	operator%= (const MotionVector &v)
	Operator for performing the RBDA $\times$ operator for two motion vectors, i.e. $m_2=(m_1\times)m_2$ . More...

ForceVector	operator%= (const ForceVector &v)
	Operator for performing the RBDA $\times $ operator for a motion vector and a force vector, i.e. $f=(m\times )f$ . More...

MotionVector	operator+= (const MotionVector &v)
	Overloaded += operator for a MotionVector. 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

Constructor & Destructor Documentation

◆ MotionVector() [1/4]

template<typename OtherDerived >

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

inline

Constructor.

Parameters

other

◆ MotionVector() [2/4]

RobotDynamics::Math::MotionVector::MotionVector ( const MotionVector & v )

inline

◆ MotionVector() [3/4]

EIGEN_STRONG_INLINE RobotDynamics::Math::MotionVector::MotionVector ( )

inline

Empty constructor.

◆ MotionVector() [4/4]

RobotDynamics::Math::MotionVector::MotionVector	(	const double	v0,
		const double	v1,
		const double	v2,
		const double	v3,
		const double	v4,
		const double	v5
	)

inline

Constructor.

Parameters

v0	x-angular
v1	y-angular
v2	z-angular
v3	x-linear
v4	y-linear
v5	z-linear

Member Function Documentation

◆ cross() [1/2]

ForceVector RobotDynamics::Math::MotionVector::cross ( const ForceVector & v )

See Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times *$ operator for spatial vectors. Given a SpatialMotion vector, $v_1$ , and SpatialForceVector, $f_1$ , this method returns $f_2 = (v_1\times *) f_1$ . Expanded, it looks like,.

$=(v_1\times *) f_1 = \begin{bmatrix} \omega_{v_1}\times & v_{v_1}\times \\ \mathbf{0} & \omega_{v_1}\times \end{bmatrix} f$

The 3d vector $\times$ operator is equivalent to the $\sim$ operator. See Math::toTildeForm.

◆ cross() [2/2]

MotionVector RobotDynamics::Math::MotionVector::cross ( const MotionVector & v )

See V. Duindum thesis p.25 for an explanation of what $ad_T$ operator is. It is also in Featherstone p. 25 eq. 2.31 & 2.32. For featherstone notation, it is essentially the $\times$ operator for spatial vectors. Given two SpatialMotion vectors, $v_1$ and $v_2$ , this method returns $v_3 = (v_1\times) v_2$ . Expanded, it looks like,.

$v_3 = (v_1 \times) v_2 = ad_{v_1} v_2 = \begin{bmatrix} \omega_{v_1} \times & \mathbf{0} \\ v_{v_1}\times & \omega_{v_1}\times \end{bmatrix} v_2$

The 3d vector $\times$ operator is equivalent to the $\sim$ operator. See Math::toTildeForm.

◆ crossf()

SpatialMatrix RobotDynamics::Math::MotionVector::crossf ( )

inline

Get the spatial force cross matrix.

Returns: $v\times*$

◆ crossm()

SpatialMatrix RobotDynamics::Math::MotionVector::crossm ( )

inline

Get the spatial motion cross matrix,.

$m\times = \begin{bmatrix} \omega\times & \mathbf{0} \\ v\times & \omega\times \end{bmatrix}$

Returns: $v\times$

◆ operator%=() [1/2]

ForceVector RobotDynamics::Math::MotionVector::operator%= ( const ForceVector & v )

inline

Operator for performing the RBDA $\times *$ operator for a motion vector and a force vector, i.e. $f=(m\times *)f$ .

Parameters

Returns: A ForceVector

◆ operator%=() [2/2]

MotionVector RobotDynamics::Math::MotionVector::operator%= ( const MotionVector & v )

inline

Operator for performing the RBDA $\times$ operator for two motion vectors, i.e. $m_2=(m_1\times)m_2$ .

Parameters

Returns: A MotionVector

◆ operator+=()

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

inline

Overloaded += operator for a MotionVector.

Returns: MotionVector

◆ operator=()

MotionVector& RobotDynamics::Math::MotionVector::operator= ( const MotionVector & other )

inline

Overload equal operator.

Parameters

other

Returns: A motion vector

◆ set()

EIGEN_STRONG_INLINE void RobotDynamics::Math::MotionVector::set ( const MotionVector & v )

inline

Setter.

Parameters

v	Sets the values equal to those stored in v

◆ toSpatialVector()

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

inline

Get a copy of a MotionVector as a SpatialVector.

Returns: SpatialVector copy of a MotionVectors

◆ transform()

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

inlinevirtual

Transforms a motion vector. Performs $ v= X v $ .

Parameters

Implements RobotDynamics::Math::TransformableGeometricObject.

◆ transform_copy()

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

inline

Copies, transforms, and returns a MotionVector. Performs $ v_2=X v_1 $ .

Parameters

Returns: Copied, transformed MotionVector

◆ vx() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::MotionVector::vx ( )

inline

Get a reference to the linear-x component.

Returns: A reference to the linear x-component

◆ vx() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::MotionVector::vx ( ) const

inline

Get a copy of the linear-x component.

Returns: A copy of the linear x-component

◆ vy() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::MotionVector::vy ( )

inline

Get a reference to the linear-y component.

Returns: A reference to the linear y-component

◆ vy() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::MotionVector::vy ( ) const

inline

Get a copy of the linear-y component.

Returns: A copy of the linear y-component

◆ vz() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::MotionVector::vz ( )

inline

Get a reference to the linear-z component.

Returns: A reference to the linear z-component

◆ vz() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::MotionVector::vz ( ) const

inline

Get a copy of the linear-z component.

Returns: A copy of the linear z-component

◆ wx() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::MotionVector::wx ( )

inline

Get a reference to the angular-x component.

Returns: A reference to the angular x-component

◆ wx() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::MotionVector::wx ( ) const

inline

Get a copy of the angular-x component.

Returns: A copy of the angular x-component

◆ wy() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::MotionVector::wy ( )

inline

Get a reference to the angular-y component.

Returns: A reference to the angular y-component

◆ wy() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::MotionVector::wy ( ) const

inline

Get a copy of the angular-y component.

Returns: A copy of the angular y-component

◆ wz() [1/2]

EIGEN_STRONG_INLINE double& RobotDynamics::Math::MotionVector::wz ( )

inline

Get a reference to the angular-z component.

Returns: A copy reference to the angular z-component

◆ wz() [2/2]

EIGEN_STRONG_INLINE double RobotDynamics::Math::MotionVector::wz ( ) const

inline

Get a copy of the angular-z component.

Returns: A copy of the angular z-component

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

rdl_dynamics/include/rdl_dynamics/MotionVector.hpp
rdl_dynamics/src/MotionVector.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ MotionVector() [1/4]

◆ MotionVector() [2/4]

◆ MotionVector() [3/4]

◆ MotionVector() [4/4]

Member Function Documentation

◆ cross() [1/2]

◆ cross() [2/2]

◆ crossf()

◆ crossm()

◆ operator%=() [1/2]

◆ operator%=() [2/2]

◆ operator+=()

◆ operator=()

◆ set()

◆ toSpatialVector()

◆ transform()

◆ transform_copy()

◆ vx() [1/2]

◆ vx() [2/2]

◆ vy() [1/2]

◆ vy() [2/2]

◆ vz() [1/2]

◆ vz() [2/2]

◆ wx() [1/2]

◆ wx() [2/2]

◆ wy() [1/2]

◆ wy() [2/2]

◆ wz() [1/2]

◆ wz() [2/2]