RBD Core

Classes
struct	iit::rbd::Core< SCALAR >

General matrix types
template<typename Derived >
using	iit::rbd::MatrixBase = Eigen::MatrixBase< Derived >
template<typename Scalar , int R, int C>
using	iit::rbd::PlainMatrix = Eigen::Matrix< Scalar, R, C >
template<typename XprType , int R, int C>
using	iit::rbd::MatrixBlock = Eigen::Block< XprType, R, C >
template<typename Scalar >
using	iit::rbd::SparseMatrix = Eigen::SparseMatrix< Scalar >
template<typename Scalar >
using	iit::rbd::SparseVector = Eigen::SparseVector< Scalar >

Types with 'double' as the scalar type.
Explicit instantiation of all the various matrix types using the standard double as the scalar type. See Core
typedef Core< double >	iit::rbd::Cored
using	iit::rbd::Matrix33d = Cored::Matrix33
using	iit::rbd::Vector3d = Cored::Vector3
using	iit::rbd::Matrix66d = Cored::Matrix66
using	iit::rbd::Vector6d = Cored::Vector6
using	iit::rbd::Vector6D = Cored::Vector6D
using	iit::rbd::VelocityVector = Cored::VelocityVector
using	iit::rbd::ForceVector = Cored::ForceVector
using	iit::rbd::Part3D = Cored::Part3D
using	iit::rbd::Part3DConst = Cored::Part3DConst
using	iit::rbd::Column6d = Cored::Column6D
using	iit::rbd::SparseMatrixd = SparseMatrix< double >
using	iit::rbd::SparseColumnd = SparseVector< double >
Part3D	iit::rbd::angularPart (Vector6D &f)
Part3D	iit::rbd::linearPart (Vector6D &f)
Part3DConst	iit::rbd::angularPart (const Vector6D &f)
Part3DConst	iit::rbd::linearPart (const Vector6D &f)

Vector coordinates
Constants to index either 6D or 3D coordinate vectors.
enum	iit::rbd::Coords3D { iit::rbd::X =0, iit::rbd::Y, iit::rbd::Z }
	To be used with 6D vectors. 'A' stands for angular, 'L' for linear. More...
enum	iit::rbd::Coords6D {   iit::rbd::AX =0, iit::rbd::AY, iit::rbd::AZ, iit::rbd::LX,   iit::rbd::LY, iit::rbd::LZ }
	To be used with 6D vectors. 'A' stands for angular, 'L' for linear. More...

Detailed Description

Main, basic data types and functions

Typedef Documentation

MatrixBase

template<typename Derived >

using iit::rbd::MatrixBase = typedef Eigen::MatrixBase< Derived >

PlainMatrix

template<typename Scalar , int R, int C>

using iit::rbd::PlainMatrix = typedef Eigen::Matrix< Scalar, R, C >

MatrixBlock

template<typename XprType , int R, int C>

using iit::rbd::MatrixBlock = typedef Eigen::Block< XprType, R, C >

SparseMatrix

template<typename Scalar >

using iit::rbd::SparseMatrix = typedef Eigen::SparseMatrix<Scalar>

SparseVector

template<typename Scalar >

using iit::rbd::SparseVector = typedef Eigen::SparseVector<Scalar>

Cored

typedef Core<double> iit::rbd::Cored

Matrix33d

using iit::rbd::Matrix33d = typedef Cored::Matrix33

Vector3d

using iit::rbd::Vector3d = typedef Cored::Vector3

Matrix66d

using iit::rbd::Matrix66d = typedef Cored::Matrix66

Vector6d

using iit::rbd::Vector6d = typedef Cored::Vector6

Vector6D

using iit::rbd::Vector6D = typedef Cored::Vector6D

VelocityVector

using iit::rbd::VelocityVector = typedef Cored::VelocityVector

ForceVector

using iit::rbd::ForceVector = typedef Cored::ForceVector

Part3D

using iit::rbd::Part3D = typedef Cored::Part3D

Part3DConst

using iit::rbd::Part3DConst = typedef Cored::Part3DConst

Column6d

using iit::rbd::Column6d = typedef Cored::Column6D

SparseMatrixd

using iit::rbd::SparseMatrixd = typedef SparseMatrix<double>

SparseColumnd

using iit::rbd::SparseColumnd = typedef SparseVector<double>

Enumeration Type Documentation

Coords3D

enum iit::rbd::Coords3D

To be used with 6D vectors. 'A' stands for angular, 'L' for linear.

Enumerator
X
Y
Z

Coords6D

enum iit::rbd::Coords6D

To be used with 6D vectors. 'A' stands for angular, 'L' for linear.

Enumerator
AX
AY
AZ
LX
LY
LZ

Function Documentation

angularPart() [1/2]

Part3D iit::rbd::angularPart ( Vector6D &  f )

inline

References iit::rbd::Core< SCALAR >::angularPart().

Referenced by iit::rbd::Utils::randomGravity().

linearPart() [1/2]

Part3D iit::rbd::linearPart ( Vector6D &  f )

inline

References iit::rbd::Core< SCALAR >::linearPart().

Referenced by iit::rbd::Utils::randomGravity().

angularPart() [2/2]

Part3DConst iit::rbd::angularPart ( const Vector6D &  f )

inline

References iit::rbd::Core< SCALAR >::angularPart().

linearPart() [2/2]

Part3DConst iit::rbd::linearPart ( const Vector6D &  f )

inline

References iit::rbd::Core< SCALAR >::linearPart(), iit::rbd::X, iit::rbd::Y, and iit::rbd::Z.