ForceTpl< _Scalar, _Options > Class Template Reference

Concreate Class representing a force. More...

#include <spatial/force.hpp>

Inheritance diagram for ForceTpl< _Scalar, _Options >:

Collaboration diagram for ForceTpl< _Scalar, _Options >:

Public Member Functions
	SPATIAL_TYPEDEF_TEMPLATE (ForceTpl)
template<typename F3 , typename N3 >
	ForceTpl (const Eigen::MatrixBase< F3 > &f, const Eigen::MatrixBase< N3 > &n)
template<typename F6 >
	ForceTpl (const Eigen::MatrixBase< F6 > &f)
template<typename S2 , int O2>
	ForceTpl (const ForceTpl< S2, O2 > &clone)
ForceTpl &	setZero ()
ForceTpl &	setRandom ()
const Vector6 &	toVector_impl () const
Vector6 &	toVector_impl ()
void	disp_impl (std::ostream &os) const
ForceTpl	se3Action_impl (const SE3 &m) const
	af = aXb.act(bf)
ForceTpl	se3ActionInverse_impl (const SE3 &m) const
bool	isEqual (const ForceTpl &other) const
template<typename S2 , int O2>
ForceTpl &	operator= (const ForceTpl< S2, O2 > &other)
template<typename F6 >
ForceTpl &	operator= (const Eigen::MatrixBase< F6 > &phi)
ForceTpl &	__equl__ (const ForceTpl &other)
ForceTpl &	__pequ__ (const ForceTpl &phi)
ForceTpl &	__mequ__ (const ForceTpl &phi)
ForceTpl	__plus__ (const ForceTpl &phi) const
ForceTpl	__mult__ (const double a) const
ForceTpl	__minus__ () const
ForceTpl	__minus__ (const ForceTpl &phi) const
bool	isApprox_impl (const ForceTpl &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
ConstAngular_t	angular_impl () const
	Return the angular part of the force vector. More...
Angular_t	angular_impl ()
	Return the angular part of the force vector. More...
void	angular_impl (const Vector3 &n)
	Set the angular part of the force vector. More...
ConstLinear_t	linear_impl () const
	Return the linear part of the force vector. More...
Linear_t	linear_impl ()
	Return the linear part of the force vector. More...
void	linear_impl (const Vector3 &f)
	Set the linear part of the force vector. More...
Scalar	dot (const Motion &m) const
Public Member Functions inherited from ForceBase< ForceTpl< _Scalar, _Options > >
Derived_t &	derived ()
const Derived_t &	derived () const
ConstAngular_t	angular () const
	Return the angular part of the force vector. More...
Angular_t	angular ()
void	angular (const Vector3 &n)
	Set the angular part of the force vector. More...
ConstLinear_t	linear () const
	Return the linear part of the force vector. More...
Linear_t	linear ()
void	linear (const Vector3 &f)
	Set the linear part of the force vector. More...
const Vector6 &	toVector () const
	Return the force. More...
Vector6 &	toVector ()
	operator Vector6 () const
bool	operator== (const Derived_t &other) const
bool	operator!= (const Derived_t &other) const
bool	isApprox (const ForceTpl< _Scalar, _Options > &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

Static Public Member Functions
static ForceTpl	Zero ()
static ForceTpl	Random ()

Protected Attributes
Vector6	data

Friends
class	ForceBase< ForceTpl< _Scalar, _Options > >

Additional Inherited Members
Protected Types inherited from ForceBase< ForceTpl< _Scalar, _Options > >
typedef ForceTpl< _Scalar, _Options >	Derived_t
Protected Member Functions inherited from ForceBase< ForceTpl< _Scalar, _Options > >
	SPATIAL_TYPEDEF_TEMPLATE (Derived_t)

Detailed Description

template<typename _Scalar, int _Options>
class se3::ForceTpl< _Scalar, _Options >

Concreate Class representing a force.

Template Parameters

_Scalar	{ description }
_Options	{ description }

Definition at line 243 of file force.hpp.

Member Function Documentation

ConstAngular_t angular_impl ( ) 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 336 of file force.hpp.

Angular_t angular_impl ( )

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 338 of file force.hpp.

void angular_impl ( const Vector3 &  n )

inline

Set the angular part of the force vector.

Parameters

[in]

n

Definition at line 340 of file force.hpp.

ConstLinear_t linear_impl ( ) 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 342 of file force.hpp.

Linear_t linear_impl ( )

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 344 of file force.hpp.

void linear_impl ( const Vector3 &  f )

inline

Set the linear part of the force vector.

Parameters

[in]

f

Definition at line 346 of file force.hpp.

References ForceBase< Derived >::dot().

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

• force.hpp