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

#include <rdl_eigenmath.hpp>

Inheritance diagram for RobotDynamics::Math::SpatialVector:

[legend]

Collaboration diagram for RobotDynamics::Math::SpatialVector:

Public Types
typedef Eigen::Matrix< double, 6, 1 >	Base

Public Member Functions
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...

Member Typedef Documentation

◆ Base

typedef Eigen::Matrix<double, 6, 1> RobotDynamics::Math::SpatialVector::Base

Constructor & Destructor Documentation

◆ SpatialVector() [1/4]

template<typename OtherDerived >

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

inline

◆ SpatialVector() [2/4]

EIGEN_STRONG_INLINE RobotDynamics::Math::SpatialVector::SpatialVector ( )

inline

◆ SpatialVector() [3/4]

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

inline

◆ SpatialVector() [4/4]

EIGEN_STRONG_INLINE RobotDynamics::Math::SpatialVector::SpatialVector	(	const Vector3d &	angularPart,
		const Vector3d &	linearPart
	)

inline

Member Function Documentation

◆ crossf() [1/2]

SpatialMatrix RobotDynamics::Math::SpatialVector::crossf ( )

Get the spatial force cross matrix.

Parameters

Returns: $v\times*$

◆ crossf() [2/2]

SpatialVector RobotDynamics::Math::SpatialVector::crossf ( const SpatialVector & v )

Spatial motion cross spatial force.

Parameters

v1	Spatial motion
v2	Spatial force

Returns: $this \times* v$

◆ crossm() [1/2]

SpatialMatrix RobotDynamics::Math::SpatialVector::crossm ( )

Get the spatial motion cross matrix.

Parameters

Returns: $v\times$

◆ crossm() [2/2]

SpatialVector RobotDynamics::Math::SpatialVector::crossm ( const SpatialVector & v )

Spatial motion cross times spatial motion.

Parameters

v1
v2

Returns: $this \times v$

◆ getAngularPart()

EIGEN_STRONG_INLINE Vector3d RobotDynamics::Math::SpatialVector::getAngularPart ( ) const

inline

◆ getLinearPart()

EIGEN_STRONG_INLINE Vector3d RobotDynamics::Math::SpatialVector::getLinearPart ( ) const

inline

◆ operator=()

template<typename OtherDerived >

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

inline

◆ set() [1/2]

EIGEN_STRONG_INLINE void RobotDynamics::Math::SpatialVector::set	(	const double &	v0,
		const double &	v1,
		const double &	v2,
		const double &	v3,
		const double &	v4,
		const double &	v5
	)

inline

◆ set() [2/2]

EIGEN_STRONG_INLINE void RobotDynamics::Math::SpatialVector::set	(	const Vector3d &	angularPart,
		const Vector3d &	linearPart
	)

inline

◆ setAngularPart() [1/2]

void RobotDynamics::Math::SpatialVector::setAngularPart ( const Vector3d & v )

inline

◆ setAngularPart() [2/2]

void RobotDynamics::Math::SpatialVector::setAngularPart	(	double	x,
		double	y,
		double	z
	)

inline

◆ setLinearPart() [1/2]

void RobotDynamics::Math::SpatialVector::setLinearPart ( const Vector3d & v )

inline

◆ setLinearPart() [2/2]

void RobotDynamics::Math::SpatialVector::setLinearPart	(	double	x,
		double	y,
		double	z
	)

inline

◆ zeroAngularPart()

void RobotDynamics::Math::SpatialVector::zeroAngularPart ( )

inline

◆ zeroLinearPart()

void RobotDynamics::Math::SpatialVector::zeroLinearPart ( )

inline

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

rdl_dynamics/include/rdl_dynamics/rdl_eigenmath.hpp
rdl_dynamics/src/rdl_eigenmath.cpp

Public Types

Public Member Functions

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SpatialVector() [1/4]

◆ SpatialVector() [2/4]

◆ SpatialVector() [3/4]

◆ SpatialVector() [4/4]

Member Function Documentation

◆ crossf() [1/2]

◆ crossf() [2/2]

◆ crossm() [1/2]

◆ crossm() [2/2]

◆ getAngularPart()

◆ getLinearPart()

◆ operator=()

◆ set() [1/2]

◆ set() [2/2]

◆ setAngularPart() [1/2]

◆ setAngularPart() [2/2]

◆ setLinearPart() [1/2]

◆ setLinearPart() [2/2]

◆ zeroAngularPart()

◆ zeroLinearPart()