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

A SpatialMomentum is a Momentum expressed in a RobotDynamics::ReferenceFrame. The angular portion of the vector is referred to as $k$ and the linear portion as $l$ . More...

#include <SpatialMomentum.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialMomentum:

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Collaboration diagram for RobotDynamics::Math::SpatialMomentum:

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Public Member Functions
	SpatialMomentum ()
	Constructor. RobotDynamics::ReferenceFrame is initialized to nullptr. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame, const double kx, const double ky, const double kz, const double lx, const double ly, const double lz)
	Costructor. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame, const Vector3d &k, const Vector3d l)
	Constructor. More...

	SpatialMomentum (const SpatialMomentum &SpatialMomentum)
	Copy constructor. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame, const ForceVector &forceVector)
	Constructor. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame)
	Constructor. More...

	SpatialMomentum (const SpatialInertia &inertia, const SpatialMotion &vector)
	Constructor. Momentum is computed from SpatialInertia and SpatialMotion by . Frame checks are performed. More...

	SpatialMomentum (ReferenceFramePtr referenceFrame, const RigidBodyInertia &inertia, const MotionVector &vector)
	Construct from a reference frame and the product of inertia and motion vector. More...

SpatialMomentum &	operator= (const SpatialMomentum &m)

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const RigidBodyInertia &inertia, const MotionVector &vector)
	Set a momentum by multiplying the supplied motion vector by the supplied inertia. Set the stored RobotDynamics::FrameObject::referenceFrame to the supplied ReferenceFrame pointer. No frame checks will be performed. More...

void	setIncludingFrame (ReferenceFramePtr referenceFrame, const ForceVector &f)
	Constructor. More...

double	operator* (const SpatialMotion &vector)
	Operator that returns the kinetic energy. Given a momentum, and motion vector , the resulting kinetic energy is computed by $E_k = 0.5 m \cdot v$ . Frame checks will be performed. More...

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

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

Protected Member Functions
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...

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

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

Protected Attributes inherited from RobotDynamics::FrameObject
ReferenceFramePtr	referenceFrame

Detailed Description

A SpatialMomentum is a Momentum expressed in a RobotDynamics::ReferenceFrame. The angular portion of the vector is referred to as $k$ and the linear portion as $l$ .

Constructor & Destructor Documentation

◆ SpatialMomentum() [1/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum ( )

inline

Constructor. RobotDynamics::ReferenceFrame is initialized to nullptr.

◆ SpatialMomentum() [2/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	ReferenceFramePtr	referenceFrame,
		const double	kx,
		const double	ky,
		const double	kz,
		const double	lx,
		const double	ly,
		const double	lz
	)

inline

Costructor.

Parameters

referenceFrame	RobotDynamics::ReferenceFrame the momentum is expressed in
kx	x-Angular
ky	y-Angular
kz	z-Angular
lx	x-Linear
ly	y-Linear
lz	z-Linear

◆ SpatialMomentum() [3/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	ReferenceFramePtr	referenceFrame,
		const Vector3d &	k,
		const Vector3d	l
	)

inline

Constructor.

Parameters

referenceFrame	RobotDynamics::ReferenceFrame the momentum is expressed in
k	Angular part
l	Linear part

◆ SpatialMomentum() [4/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum ( const SpatialMomentum & SpatialMomentum )

inline

Copy constructor.

Parameters

SpatialMomentum

◆ SpatialMomentum() [5/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	ReferenceFramePtr	referenceFrame,
		const ForceVector &	forceVector
	)

inline

Constructor.

Parameters

referenceFrame	RobotDynamics::ReferenceFrame the momentum is expressed in
forceVector

◆ SpatialMomentum() [6/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum ( ReferenceFramePtr referenceFrame )

inlineexplicit

Constructor.

Parameters

referenceFrame RobotDynamics::ReferenceFrame the momentum is expressed in

◆ SpatialMomentum() [7/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	const SpatialInertia &	inertia,
		const SpatialMotion &	vector
	)

inline

Constructor. Momentum is computed from SpatialInertia and SpatialMotion by $ p=I*m $ . Frame checks are performed.

Parameters

inertia
vector

◆ SpatialMomentum() [8/8]

RobotDynamics::Math::SpatialMomentum::SpatialMomentum	(	ReferenceFramePtr	referenceFrame,
		const RigidBodyInertia &	inertia,
		const MotionVector &	vector
	)

inline

Construct from a reference frame and the product of inertia and motion vector.

Member Function Documentation

◆ getTransformableGeometricObject()

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

inlineprotectedvirtual

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*()

double RobotDynamics::Math::SpatialMomentum::operator* ( const SpatialMotion & vector )

inline

Operator that returns the kinetic energy. Given a momentum, $m$ and motion vector $v$ , the resulting kinetic energy is computed by $E_k = 0.5 m \cdot v$ . Frame checks will be performed.

Returns: double The kinetic energy

◆ operator=()

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

inline

◆ setIncludingFrame() [1/2]

void RobotDynamics::Math::SpatialMomentum::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const ForceVector &	f
	)

inline

Constructor.

Parameters

referenceFrame
f

◆ setIncludingFrame() [2/2]

void RobotDynamics::Math::SpatialMomentum::setIncludingFrame	(	ReferenceFramePtr	referenceFrame,
		const RigidBodyInertia &	inertia,
		const MotionVector &	vector
	)

inline

Set a momentum by multiplying the supplied motion vector by the supplied inertia. Set the stored RobotDynamics::FrameObject::referenceFrame to the supplied ReferenceFrame pointer. No frame checks will be performed.

Parameters

referenceFrame
inertia
vector

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

rdl_dynamics/include/rdl_dynamics/SpatialMomentum.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SpatialMomentum() [1/8]

◆ SpatialMomentum() [2/8]

◆ SpatialMomentum() [3/8]

◆ SpatialMomentum() [4/8]

◆ SpatialMomentum() [5/8]

◆ SpatialMomentum() [6/8]

◆ SpatialMomentum() [7/8]

◆ SpatialMomentum() [8/8]

Member Function Documentation

◆ getTransformableGeometricObject()

◆ operator*()

◆ operator=()

◆ setIncludingFrame() [1/2]

◆ setIncludingFrame() [2/2]