Base interface for forces representation. More...

#include <spatial/force.hpp>

Public Member Functions
Derived_t &	derived ()

const Derived_t &	derived () const

ConstAngular_t	angular () const
	Return the angular part of the force vector. More...

ConstLinear_t	linear () const
	Return the linear part of the force vector. More...

Angular_t	angular ()
	Return the angular part of the force vector. More...

Linear_t	linear ()
	Return the linear part of the force vector. More...

void	angular (const Vector3 &n)
	Set the angular part of the force vector. More...

void	linear (const Vector3 &f)
	Set the linear part of the force vector. More...

const Vector6 &	toVector () const
	Return the force. More...

Vector6 &	toVector ()
	Return the force. More...

	operator Vector6 () const

bool	operator== (const Derived_t &other) const

bool	operator!= (const Derived_t &other) const

bool	isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

Derived_t &	operator= (const Derived_t &other)
	Copies the Derived Force into *this. More...

Derived_t &	operator+= (const Derived_t &phi)
	Replaces this by this + other. More...

Derived_t &	operator-= (const Derived_t &phi)
	Replaces this by this - other. More...

Derived_t	operator+ (const Derived_t &phi) const

Derived_t	operator* (double a) const

Derived_t	operator- () const

Derived_t	operator- (const Derived_t &phi) const

Scalar	dot (const Motion &m) const

Derived_t	se3Action (const SE3 &m) const
	Transform from A to B coordinates the Force represented by this such that \begin{equation} \leftidx{^B}f = \leftidx{^B}X_A^* * \leftidx{^A}f \end{equation*} . More...

Derived_t	se3ActionInverse (const SE3 &m) const
	Transform from B to A coordinates the Force represented by this such that \begin{equation} \leftidx{^A}f = \leftidx{^A}X_B^* * \leftidx{^A}f \end{equation*} . More...

void	disp (std::ostream &os) const

Protected Types
typedef Derived	Derived_t

Protected Member Functions
	SPATIAL_TYPEDEF_TEMPLATE (Derived_t)

Friends
std::ostream &	operator<< (std::ostream &os, const ForceBase< Derived_t > &X)

Detailed Description

template<class Derived>
class se3::ForceBase< Derived >

Base interface for forces representation.

The Class implements all

Template Parameters

Derived { description }

Definition at line 47 of file force.hpp.

Member Function Documentation

ConstAngular_t angular ( ) const

inline

Return the angular part of the force vector.

Returns: The 3D vector associated to the angular part of the 6D force vector

Definition at line 64 of file force.hpp.

Referenced by ActuatorDCNonLinearMotorModel< Scalar_ >::calc().

Angular_t angular ( )

inline

Return the angular part of the force vector.

Returns: The 3D vector associated to the angular part of the 6D force vector

Definition at line 74 of file force.hpp.

void angular ( const Vector3 & n )

inline

Set the angular part of the force vector.

Parameters

[in] n

Definition at line 85 of file force.hpp.

Scalar dot ( const Motion & m ) const

inline

Returns: the dot product of *this with m *

Definition at line 169 of file force.hpp.

Referenced by ForceBase< ForceTpl< _Scalar, _Options > >::dot(), and ForceTpl< _Scalar, _Options >::linear_impl().

bool isApprox	(	const Derived &	other,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Returns: true if *this is approximately equal to other, within the precision given by prec.

Definition at line 131 of file force.hpp.

ConstLinear_t linear ( ) const

inline

Return the linear part of the force vector.

Returns: The 3D vector associated to the linear part of the 6D force vector

Definition at line 71 of file force.hpp.

Referenced by ActuatorDCNonLinearMotorModel< Scalar_ >::calc().

Linear_t linear ( )

inline

Return the linear part of the force vector.

Returns: The 3D vector associated to the linear part of the 6D force vector

Definition at line 77 of file force.hpp.

void linear ( const Vector3 & f )

inline

Set the linear part of the force vector.

Parameters

[in] f

Definition at line 92 of file force.hpp.

bool operator!= ( const Derived_t & other ) const

inline

Returns: true if at least one coefficient of *this and other does not match.

Definition at line 127 of file force.hpp.

Derived_t operator* ( double a ) const

inline

Returns: an expression of *this scaled by the double factor a

Definition at line 157 of file force.hpp.

Derived_t operator+ ( const Derived_t & phi ) const

inline

Returns: an expression of the sum of *this and other

Definition at line 153 of file force.hpp.

Derived_t& operator+= ( const Derived_t & phi )

inline

Replaces *this by *this + other.

Returns: a reference to *this

Definition at line 143 of file force.hpp.

Derived_t operator- ( ) const

inline

Returns: an expression of the opposite of *this

Definition at line 161 of file force.hpp.

Derived_t operator- ( const Derived_t & phi ) const

inline

Returns: an expression of the difference of *this and phi

Definition at line 165 of file force.hpp.

Derived_t& operator-= ( const Derived_t & phi )

inline

Replaces *this by *this - other.

Returns: a reference to *this

Definition at line 149 of file force.hpp.

Derived_t& operator= ( const Derived_t & other )

inline

Copies the Derived Force into *this.

Returns: a reference to *this

Definition at line 137 of file force.hpp.

Referenced by ForceTpl< _Scalar, _Options >::se3Action_impl().

bool operator== ( const Derived_t & other ) const

inline

Returns: true if each coefficients of *this and other are all exactly equal.

Warning: When using floating point scalar values you probably should rather use a fuzzy comparison such as isApprox()

Definition at line 123 of file force.hpp.

Derived_t se3Action ( const SE3 & m ) const

inline

Transform from A to B coordinates the Force represented by *this such that

\begin{equation*} \leftidx{^B}f = \leftidx{^B}X_A^* * \leftidx{^A}f \end{equation*}

.

Parameters

[in] m The rigid transformation \( \leftidx{^B}m_A \) whose coordinates transform for forces is {^B}X_A^*

Returns: an expression of the force expressed in the new coordinates

Definition at line 183 of file force.hpp.

Derived_t se3ActionInverse ( const SE3 & m ) const

inline

Transform from B to A coordinates the Force represented by *this such that

\begin{equation*} \leftidx{^A}f = \leftidx{^A}X_B^* * \leftidx{^A}f \end{equation*}

.

Parameters

[in] m The rigid transformation \( \leftidx{^B}m_A \) whose coordinates transform for forces is {^B}X_A^*

Returns: an expression of the force expressed in the new coordinates

Definition at line 196 of file force.hpp.

const Vector6& toVector ( ) const

inline

Return the force.

Returns: The 6D vector \( \phi \) such that
\begin{equation*} \leftidx{^A}\phi = \begin{bmatrix} \leftidx{^A}f \\ \leftidx{^A}\tau \end{bmatrix} \end{equation*}

Definition at line 102 of file force.hpp.

Referenced by ActuatorDCNonLinearMotorModel< Scalar_ >::calc(), and ForceBase< ForceTpl< _Scalar, _Options > >::toVector().

Vector6& toVector ( )

inline

Return the force.

Returns: The 6D vector \( \phi \) such that
\begin{equation*} \leftidx{^A}\phi = \begin{bmatrix} \leftidx{^A}f \\ \leftidx{^A}\tau \end{bmatrix} \end{equation*}

Definition at line 105 of file force.hpp.

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

force.hpp

Public Member Functions

Protected Types

Protected Member Functions

Friends

Detailed Description

template<class Derived> class se3::ForceBase< Derived >

Member Function Documentation

template<class Derived>
class se3::ForceBase< Derived >