- 3.0.2 rigid body dynamics module.
Public Member Functions | List of all members
ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR > Class Template Reference

Selection Matrix for a Rigid Body Dynamics System. More...

#include <SelectionMatrix.h>

Inheritance diagram for ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SelectionMatrix ()=delete
 
 SelectionMatrix (const SelectionMatrix &other)
 
 SelectionMatrix (bool floatingBase)
 
template<typename T = void>
std::enable_if<(STATE_DIM< 6), T >::type setIdentity (bool floatingBase)
 
template<typename T = void>
std::enable_if<(STATE_DIM >=6), T >::type setIdentity (bool floatingBase)
 
template<typename T >
std::enable_if<(STATE_DIM >=6), T >::type setIdentity (bool floatingBase)
 

Detailed Description

template<size_t CONTROL_DIM, size_t STATE_DIM, typename SCALAR = double>
class ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >

Selection Matrix for a Rigid Body Dynamics System.

This matrix maps control inputs to the states used in standard rigid body dynamics formulations such as

\[ M \ddot{q} + C + G = S^T \tau + J_c \lambda \]

where $ S $ is the selection matrix.

Constructor & Destructor Documentation

◆ SelectionMatrix() [1/3]

template<size_t CONTROL_DIM, size_t STATE_DIM, typename SCALAR = double>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >::SelectionMatrix ( )
delete

◆ SelectionMatrix() [2/3]

template<size_t CONTROL_DIM, size_t STATE_DIM, typename SCALAR >
ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >::SelectionMatrix ( const SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR > &  other)

◆ SelectionMatrix() [3/3]

template<size_t CONTROL_DIM, size_t STATE_DIM, typename SCALAR >
ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >::SelectionMatrix ( bool  floatingBase)

Member Function Documentation

◆ setIdentity() [1/3]

template<size_t CONTROL_DIM, size_t STATE_DIM, typename SCALAR = double>
template<typename T = void>
std::enable_if<(STATE_DIM < 6), T>::type ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >::setIdentity ( bool  floatingBase)

◆ setIdentity() [2/3]

template<size_t CONTROL_DIM, size_t STATE_DIM, typename SCALAR = double>
template<typename T = void>
std::enable_if<(STATE_DIM >= 6), T>::type ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >::setIdentity ( bool  floatingBase)

◆ setIdentity() [3/3]

template<size_t CONTROL_DIM, size_t STATE_DIM, typename SCALAR = double>
template<typename T >
std::enable_if<(STATE_DIM >= 6), T>::type ct::rbd::SelectionMatrix< CONTROL_DIM, STATE_DIM, SCALAR >::setIdentity ( bool  floatingBase)
The documentation for this class was generated from the following files: