ct::rbd::SpatialForceVector< SCALAR > Class Template Reference

A spatial force vector This vector contains a torque (angular) in the upper three rows and a linear force in the lower three rows. More...

#include <SpatialForceVector.h>

Inheritance diagram for ct::rbd::SpatialForceVector< SCALAR >:

Public Types
typedef Eigen::Matrix< SCALAR, 6, 1 >	spatial_force_vector_t
	special vector type More...
typedef Eigen::VectorBlock< spatial_force_vector_t, 3 >	ForceTorqueBlock
	3D force or torque block inside of the spacial vector More...
typedef Eigen::VectorBlock< const spatial_force_vector_t, 3 >	ForceTorqueBlockConst
	const 3D force or torque block inside of the spacial vector More...

Public Member Functions
	SpatialForceVector ()
	Default constructor. More...
	SpatialForceVector (const spatial_force_vector_t &vector6)
	Copy constructor. More...
spatial_force_vector_t &	toImplementation ()
	Returns the Eigen implementation. More...
const spatial_force_vector_t &	toImplementation () const
	Returns the Eigen implementation. More...
SpatialForceVector &	setZero ()
	Sets all entries to zero. More...
bool	operator== (const spatial_force_vector_t &rhs) const
	Comparison operator (exact, subject to floating point rounding) More...
bool	operator!= (const spatial_force_vector_t &rhs) const
	Comparison operator (exact, subject to floating point rounding) More...
spatial_force_vector_t	operator+ (const spatial_force_vector_t &rhs) const
	Sums two spatial forces component-wise. More...
spatial_force_vector_t	operator- (const spatial_force_vector_t &rhs) const
	Substracts two spatial forces component-wise. More...
spatial_force_vector_t	operator* (const SCALAR &scalar) const
	Scales a spatial forces component-wise. More...
spatial_force_vector_t	operator/ (const SCALAR &scalar) const
	Divides a spatial forces component-wise. More...
ForceTorqueBlock	torque ()
	Get the torque block (upper 3D block) More...
const ForceTorqueBlockConst	torque () const
	Get the torque block (upper 3D block) More...
ForceTorqueBlock	force ()
	Get the force block (lower 3D block) More...
const ForceTorqueBlockConst	force () const
	Get the force block (lower 3D block) More...

Detailed Description

template<typename SCALAR = double>
class ct::rbd::SpatialForceVector< SCALAR >

A spatial force vector This vector contains a torque (angular) in the upper three rows and a linear force in the lower three rows.

Member Typedef Documentation

spatial_force_vector_t

template<typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, 6, 1> ct::rbd::SpatialForceVector< SCALAR >::spatial_force_vector_t

special vector type

ForceTorqueBlock

template<typename SCALAR = double>

typedef Eigen::VectorBlock<spatial_force_vector_t, 3> ct::rbd::SpatialForceVector< SCALAR >::ForceTorqueBlock

3D force or torque block inside of the spacial vector

ForceTorqueBlockConst

template<typename SCALAR = double>

typedef Eigen::VectorBlock<const spatial_force_vector_t, 3> ct::rbd::SpatialForceVector< SCALAR >::ForceTorqueBlockConst

const 3D force or torque block inside of the spacial vector

Constructor & Destructor Documentation

SpatialForceVector() [1/2]

template<typename SCALAR = double>

ct::rbd::SpatialForceVector< SCALAR >::SpatialForceVector ( )

inline

Default constructor.

SpatialForceVector() [2/2]

template<typename SCALAR = double>

ct::rbd::SpatialForceVector< SCALAR >::SpatialForceVector ( const spatial_force_vector_t &  vector6 )

inline

Copy constructor.

Member Function Documentation

toImplementation() [1/2]

template<typename SCALAR = double>

spatial_force_vector_t& ct::rbd::SpatialForceVector< SCALAR >::toImplementation ( )

inline

Returns the Eigen implementation.

toImplementation() [2/2]

template<typename SCALAR = double>

const spatial_force_vector_t& ct::rbd::SpatialForceVector< SCALAR >::toImplementation ( ) const

inline

Returns the Eigen implementation.

setZero()

template<typename SCALAR = double>

SpatialForceVector& ct::rbd::SpatialForceVector< SCALAR >::setZero ( )

inline

Sets all entries to zero.

operator==()

template<typename SCALAR = double>

bool ct::rbd::SpatialForceVector< SCALAR >::operator== ( const spatial_force_vector_t &  rhs ) const

inline

Comparison operator (exact, subject to floating point rounding)

operator!=()

template<typename SCALAR = double>

bool ct::rbd::SpatialForceVector< SCALAR >::operator!= ( const spatial_force_vector_t &  rhs ) const

inline

Comparison operator (exact, subject to floating point rounding)

operator+()

template<typename SCALAR = double>

spatial_force_vector_t ct::rbd::SpatialForceVector< SCALAR >::operator+ ( const spatial_force_vector_t &  rhs ) const

inline

Sums two spatial forces component-wise.

operator-()

template<typename SCALAR = double>

spatial_force_vector_t ct::rbd::SpatialForceVector< SCALAR >::operator- ( const spatial_force_vector_t &  rhs ) const

inline

Substracts two spatial forces component-wise.

operator*()

template<typename SCALAR = double>

spatial_force_vector_t ct::rbd::SpatialForceVector< SCALAR >::operator* ( const SCALAR &  scalar ) const

inline

Scales a spatial forces component-wise.

operator/()

template<typename SCALAR = double>

spatial_force_vector_t ct::rbd::SpatialForceVector< SCALAR >::operator/ ( const SCALAR &  scalar ) const

inline

Divides a spatial forces component-wise.

torque() [1/2]

template<typename SCALAR = double>

ForceTorqueBlock ct::rbd::SpatialForceVector< SCALAR >::torque ( )

inline

Get the torque block (upper 3D block)

Referenced by ct::rbd::Kinematics< RBD, NEE >::mapForceFromEEToLink(), and ct::rbd::Kinematics< RBD, NEE >::mapForceFromWorldToLink().

torque() [2/2]

template<typename SCALAR = double>

const ForceTorqueBlockConst ct::rbd::SpatialForceVector< SCALAR >::torque ( ) const

inline

Get the torque block (upper 3D block)

force() [1/2]

template<typename SCALAR = double>

ForceTorqueBlock ct::rbd::SpatialForceVector< SCALAR >::force ( )

inline

Get the force block (lower 3D block)

Referenced by ct::rbd::Kinematics< RBD, NEE >::mapForceFromEEToLink(), ct::rbd::Kinematics< RBD, NEE >::mapForceFromWorldToLink(), and ct::rbd::Kinematics< RBD, NEE >::mapForceFromWorldToLink3d().

force() [2/2]

template<typename SCALAR = double>

const ForceTorqueBlockConst ct::rbd::SpatialForceVector< SCALAR >::force ( ) const

inline

Get the force block (lower 3D block)

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/common/SpatialForceVector.h