- 3.0.2 rigid body dynamics module.
Public Types | Public Member Functions | Public Attributes | List of all members
iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT > Class Template Reference

#include <inertia_properties.h>

Public Types

typedef iit::rbd::Core< Scalar > CoreS
 
typedef iit::rbd::tpl::InertiaMatrixDense< Scalar > IMatrix
 
typedef CoreS::Vector3 Vec3d
 

Public Member Functions

 InertiaProperties ()
 
 ~InertiaProperties ()
 
const IMatrix & getTensor_trunk () const
 
const IMatrix & getTensor_LF_hipassembly () const
 
const IMatrix & getTensor_LF_upperleg () const
 
const IMatrix & getTensor_LF_lowerleg () const
 
const IMatrix & getTensor_RF_hipassembly () const
 
const IMatrix & getTensor_RF_upperleg () const
 
const IMatrix & getTensor_RF_lowerleg () const
 
const IMatrix & getTensor_LH_hipassembly () const
 
const IMatrix & getTensor_LH_upperleg () const
 
const IMatrix & getTensor_LH_lowerleg () const
 
const IMatrix & getTensor_RH_hipassembly () const
 
const IMatrix & getTensor_RH_upperleg () const
 
const IMatrix & getTensor_RH_lowerleg () const
 
Scalar getMass_trunk () const
 
Scalar getMass_LF_hipassembly () const
 
Scalar getMass_LF_upperleg () const
 
Scalar getMass_LF_lowerleg () const
 
Scalar getMass_RF_hipassembly () const
 
Scalar getMass_RF_upperleg () const
 
Scalar getMass_RF_lowerleg () const
 
Scalar getMass_LH_hipassembly () const
 
Scalar getMass_LH_upperleg () const
 
Scalar getMass_LH_lowerleg () const
 
Scalar getMass_RH_hipassembly () const
 
Scalar getMass_RH_upperleg () const
 
Scalar getMass_RH_lowerleg () const
 
const Vec3d & getCOM_trunk () const
 
const Vec3d & getCOM_LF_hipassembly () const
 
const Vec3d & getCOM_LF_upperleg () const
 
const Vec3d & getCOM_LF_lowerleg () const
 
const Vec3d & getCOM_RF_hipassembly () const
 
const Vec3d & getCOM_RF_upperleg () const
 
const Vec3d & getCOM_RF_lowerleg () const
 
const Vec3d & getCOM_LH_hipassembly () const
 
const Vec3d & getCOM_LH_upperleg () const
 
const Vec3d & getCOM_LH_lowerleg () const
 
const Vec3d & getCOM_RH_hipassembly () const
 
const Vec3d & getCOM_RH_upperleg () const
 
const Vec3d & getCOM_RH_lowerleg () const
 
Scalar getTotalMass () const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef TRAIT::Scalar Scalar
 

Member Typedef Documentation

◆ CoreS

template<typename TRAIT>
typedef iit::rbd::Core<Scalar> iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::CoreS

◆ IMatrix

template<typename TRAIT>
typedef iit::rbd::tpl::InertiaMatrixDense<Scalar> iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::IMatrix

◆ Vec3d

template<typename TRAIT>
typedef CoreS::Vector3 iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::Vec3d

Constructor & Destructor Documentation

◆ InertiaProperties()

template<typename TRAIT >
iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::InertiaProperties ( )

◆ ~InertiaProperties()

template<typename TRAIT >
iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::~InertiaProperties ( )
inline

Member Function Documentation

◆ getTensor_trunk()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_trunk ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_LF_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LF_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_LF_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LF_upperleg ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_LF_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LF_lowerleg ( ) const
inline

◆ getTensor_RF_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RF_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_RF_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RF_upperleg ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_RF_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RF_lowerleg ( ) const
inline

◆ getTensor_LH_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LH_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_LH_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LH_upperleg ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_LH_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_LH_lowerleg ( ) const
inline

◆ getTensor_RH_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RH_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_RH_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RH_upperleg ( ) const
inline

Referenced by iit::TestHyQ::dyn::tpl::JSIM< TRAIT >::update().

◆ getTensor_RH_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::IMatrix & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTensor_RH_lowerleg ( ) const
inline

◆ getMass_trunk()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_trunk ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_LF_hipassembly()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_LF_hipassembly ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_LF_upperleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_LF_upperleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_LF_lowerleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_LF_lowerleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_RF_hipassembly()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_RF_hipassembly ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_RF_upperleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_RF_upperleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_RF_lowerleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_RF_lowerleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_LH_hipassembly()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_LH_hipassembly ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_LH_upperleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_LH_upperleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_LH_lowerleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_LH_lowerleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_RH_hipassembly()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_RH_hipassembly ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_RH_upperleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_RH_upperleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getMass_RH_lowerleg()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getMass_RH_lowerleg ( ) const
inline

References iit::rbd::tpl::InertiaMatrixDense< SCALAR >::getMass().

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_trunk()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_trunk ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_LF_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_LF_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_LF_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_LF_upperleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_LF_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_LF_lowerleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_RF_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_RF_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_RF_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_RF_upperleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_RF_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_RF_lowerleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_LH_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_LH_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_LH_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_LH_upperleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_LH_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_LH_lowerleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_RH_hipassembly()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_RH_hipassembly ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_RH_upperleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_RH_upperleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getCOM_RH_lowerleg()

template<typename TRAIT >
const InertiaProperties< TRAIT >::Vec3d & iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getCOM_RH_lowerleg ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

◆ getTotalMass()

template<typename TRAIT >
InertiaProperties< TRAIT >::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::getTotalMass ( ) const
inline

Referenced by iit::TestHyQ::getWholeBodyCOM().

Member Data Documentation

◆ Scalar

template<typename TRAIT>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef TRAIT::Scalar iit::TestHyQ::dyn::tpl::InertiaProperties< TRAIT >::Scalar
The documentation for this class was generated from the following files: