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

A SpatialForce is a spatial vector with the angular part being three moments and the linear part being 3 linear forces. More...

#include <SpatialForce.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialForce:

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Collaboration diagram for RobotDynamics::Math::SpatialForce:

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Public Member Functions
	SpatialForce ()
	Constructor. RobotDynamics::FrameObject::referenceFrame is initialized to nullptr. More...

	SpatialForce (ReferenceFramePtr referenceFrame)
	Constructor. Force vector elements will be zero. More...

	SpatialForce (ReferenceFramePtr referenceFrame, const double mx, const double my, const double mz, const double fx, const double fy, const double fz)
	Constructor. More...

	SpatialForce (ReferenceFramePtr referenceFrame, const Vector3d &m, const Vector3d f)
	Constructor. More...

SpatialForce &	operator= (const SpatialForce &f)

Math::TransformableGeometricObject *	getTransformableGeometricObject ()
	Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method. More...

SpatialForce	changeFrameAndCopy (ReferenceFramePtr referenceFrame) const
	Copy and change frame. More...

FrameVector	getFramedLinearPart () const
	Get linear part of spatial force as a frame vector. More...

FrameVector	getFramedAngularPart () const
	Get angular part of spatial force as a frame vector. More...

	SpatialForce (const SpatialForce &spatialForce)
	Copy constructor. More...

	SpatialForce (ReferenceFramePtr referenceFrame, const SpatialVector &spatialVector)
	Constructor. More...

ForceVector	toForceVector () const
	Get copy of this SpatialForce as type ForceVector. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const SpatialVector &v)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, double wx, double wy, double wz, double vx, double vy, double vz)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const Vector3d &m, const Vector3d &f)

SpatialForce	operator*= (double scale)
	Operator for scaling a spatial force vector. More...

SpatialForce	operator+= (const SpatialForce &f)
	Overloaded += operator. Frame checks are performed. More...

SpatialForce	operator-= (const SpatialForce &f)
	Overloaded -= operator. Frame checks are performed. 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...

Public Member Functions inherited from RobotDynamics::FrameObject
	FrameObject (ReferenceFramePtr referenceFrame)

virtual	~FrameObject ()
	Destructor. More...

virtual void	changeFrame (ReferenceFramePtr desiredFrame)
	Change the ReferenceFrame this FrameObject is expressed in. More...

ReferenceFramePtr	getReferenceFrame () const
	Get a pointer to the reference frame this FrameObject is expressed in. More...

void	setReferenceFrame (ReferenceFramePtr frame)
	Set frame objects internal reference frame. More...

void	checkReferenceFramesMatch (const FrameObject *frameObject) const
	Check if two FrameObjects hold the same ReferenceFrame. More...

void	checkReferenceFramesMatch (FrameObject *frameObject) const

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

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

A SpatialForce is a spatial vector with the angular part being three moments and the linear part being 3 linear forces.

Constructor & Destructor Documentation

◆ SpatialForce() [1/6]

RobotDynamics::Math::SpatialForce::SpatialForce ( )

inline

Constructor. RobotDynamics::FrameObject::referenceFrame is initialized to nullptr.

◆ SpatialForce() [2/6]

RobotDynamics::Math::SpatialForce::SpatialForce ( ReferenceFramePtr referenceFrame )

inlineexplicit

Constructor. Force vector elements will be zero.

Parameters

referenceFrame Frame spatial force will be expressed in

◆ SpatialForce() [3/6]

RobotDynamics::Math::SpatialForce::SpatialForce	(	ReferenceFramePtr	referenceFrame,
		const double	mx,
		const double	my,
		const double	mz,
		const double	fx,
		const double	fy,
		const double	fz
	)

inline

Constructor.

Parameters

referenceFrame	ReferenceFrame this force vector is expressed in
mx	x-Momentum
my	y-Momentum
mz	z-Momentum
fx	x-Force
fy	y-Force
fz	z-Force

◆ SpatialForce() [4/6]

RobotDynamics::Math::SpatialForce::SpatialForce	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	m,
		const Vector3d	f
	)

inline

Constructor.

Parameters

referenceFrame	ReferenceFrame this force vector is expressed in
m	Vector containing the angular component
f	Vector containing the linear component

◆ SpatialForce() [5/6]

RobotDynamics::Math::SpatialForce::SpatialForce ( const SpatialForce & spatialForce )

inline

Copy constructor.

Parameters

spatialForce

◆ SpatialForce() [6/6]

RobotDynamics::Math::SpatialForce::SpatialForce	(	ReferenceFramePtr	referenceFrame,
		const SpatialVector &	spatialVector
	)

inline

Constructor.

Parameters

referenceFrame	ReferenceFrame this force vector is expressed in
spatialVector

Member Function Documentation

◆ changeFrameAndCopy()

SpatialForce RobotDynamics::Math::SpatialForce::changeFrameAndCopy ( ReferenceFramePtr referenceFrame ) const

inline

Copy and change frame.

Parameters

referenceFrame

Returns: Copied spatial transform with frame changed

◆ getFramedAngularPart()

FrameVector RobotDynamics::Math::SpatialForce::getFramedAngularPart ( ) const

inline

Get angular part of spatial force as a frame vector.

Returns: FrameVector consisting of the reference frame and the angular portion

◆ getFramedLinearPart()

FrameVector RobotDynamics::Math::SpatialForce::getFramedLinearPart ( ) const

inline

Get linear part of spatial force as a frame vector.

Returns: FrameVector consisting of the reference frame and the linear portion

◆ getTransformableGeometricObject()

Math::TransformableGeometricObject* RobotDynamics::Math::SpatialForce::getTransformableGeometricObject ( )

inlinevirtual

Pure virtual method that FrameObjects are required to implement so the FrameObject::changeFrame method is able to access the TransformableGeometricObject which is required to implement the TransformableGeometricObject::transform method.

Returns

Implements RobotDynamics::FrameObject.

◆ operator*=()

SpatialForce RobotDynamics::Math::SpatialForce::operator*= ( double scale )

inline

Operator for scaling a spatial force vector.

Parameters

scale Each force element will be multiplied by this scale

Returns

◆ operator+=()

SpatialForce RobotDynamics::Math::SpatialForce::operator+= ( const SpatialForce & f )

inline

Overloaded += operator. Frame checks are performed.

Parameters

Returns

◆ operator-=()

SpatialForce RobotDynamics::Math::SpatialForce::operator-= ( const SpatialForce & f )

inline

Overloaded -= operator. Frame checks are performed.

Parameters

Returns

◆ operator=()

SpatialForce& RobotDynamics::Math::SpatialForce::operator= ( const SpatialForce & f )

inline

◆ setIncludingFrame() [1/3]

void RobotDynamics::Math::SpatialForce::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const SpatialVector &	v
	)

inline

◆ setIncludingFrame() [2/3]

void RobotDynamics::Math::SpatialForce::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	m,
		const Vector3d &	f
	)

inline

◆ setIncludingFrame() [3/3]

void RobotDynamics::Math::SpatialForce::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		double	wx,
		double	wy,
		double	wz,
		double	vx,
		double	vy,
		double	vz
	)

inline

◆ toForceVector()

ForceVector RobotDynamics::Math::SpatialForce::toForceVector ( ) const

inline

Get copy of this SpatialForce as type ForceVector.

Returns: A SpatialForce as type ForceVector

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

rdl_dynamics/include/rdl_dynamics/SpatialForce.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SpatialForce() [1/6]

◆ SpatialForce() [2/6]

◆ SpatialForce() [3/6]

◆ SpatialForce() [4/6]

◆ SpatialForce() [5/6]

◆ SpatialForce() [6/6]

Member Function Documentation

◆ changeFrameAndCopy()

◆ getFramedAngularPart()

◆ getFramedLinearPart()

◆ getTransformableGeometricObject()

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator=()

◆ setIncludingFrame() [1/3]

◆ setIncludingFrame() [2/3]

◆ setIncludingFrame() [3/3]

◆ toForceVector()