iit::rbd::Core< SCALAR > Struct Template Reference

#include <rbd.h>

Public Types
typedef SCALAR	Scalar
Basic matrix types
typedef PlainMatrix< Scalar, 3, 3 >	Matrix33
typedef PlainMatrix< Scalar, 6, 6 >	Matrix66
typedef PlainMatrix< Scalar, 3, 1 >	Vector3
typedef PlainMatrix< Scalar, 6, 1 >	Vector6
6D vectors "à la Featherstone"
Types of vectors used in dynamics computations.
typedef Vector6	Vector6D
	a 3D subvector of a 6D vector More...
typedef Vector6D	Column6D
	a 3D subvector of a 6D vector More...
typedef Vector6D	VelocityVector
	a 3D subvector of a 6D vector More...
typedef Vector6D	ForceVector
	a 3D subvector of a 6D vector More...
typedef MatrixBlock< Vector6D, 3, 1 >	Part3D
	a 3D subvector of a 6D vector More...
typedef MatrixBlock< const Vector6D, 3, 1 >	Part3DConst
	a const 3D subvector of a 6D vector More...

Static Public Member Functions
6D vectors accessors
These functions allow to access the linear and the angular coordinates of motion/force vectors.
static Part3D	angularPart (Vector6D &f)
static Part3D	linearPart (Vector6D &f)
static Part3DConst	angularPart (const Vector6D &f)
static Part3DConst	linearPart (const Vector6D &f)

Detailed Description

template<typename SCALAR>
struct iit::rbd::Core< SCALAR >

A container of basic type/function definitions, templated on the scalar type.

Template Parameters

SCALAR

the numerical type for scalar values

Member Typedef Documentation

Scalar

template<typename SCALAR>

typedef SCALAR iit::rbd::Core< SCALAR >::Scalar

Matrix33

template<typename SCALAR>

typedef PlainMatrix<Scalar,3,3> iit::rbd::Core< SCALAR >::Matrix33

Matrix66

template<typename SCALAR>

typedef PlainMatrix<Scalar,6,6> iit::rbd::Core< SCALAR >::Matrix66

Vector3

template<typename SCALAR>

typedef PlainMatrix<Scalar,3,1> iit::rbd::Core< SCALAR >::Vector3

Vector6

template<typename SCALAR>

typedef PlainMatrix<Scalar,6,1> iit::rbd::Core< SCALAR >::Vector6

Vector6D

template<typename SCALAR>

typedef Vector6 iit::rbd::Core< SCALAR >::Vector6D

a 3D subvector of a 6D vector

Column6D

template<typename SCALAR>

typedef Vector6D iit::rbd::Core< SCALAR >::Column6D

a 3D subvector of a 6D vector

VelocityVector

template<typename SCALAR>

typedef Vector6D iit::rbd::Core< SCALAR >::VelocityVector

a 3D subvector of a 6D vector

ForceVector

template<typename SCALAR>

typedef Vector6D iit::rbd::Core< SCALAR >::ForceVector

a 3D subvector of a 6D vector

Part3D

template<typename SCALAR>

typedef MatrixBlock<Vector6D,3,1> iit::rbd::Core< SCALAR >::Part3D

a 3D subvector of a 6D vector

Part3DConst

template<typename SCALAR>

typedef MatrixBlock<const Vector6D,3,1> iit::rbd::Core< SCALAR >::Part3DConst

a const 3D subvector of a 6D vector

Member Function Documentation

angularPart() [1/2]

template<typename SCALAR>

static Part3D iit::rbd::Core< SCALAR >::angularPart ( Vector6D &  f )

inlinestatic

The 3-coordinate vector with the angular components (angular velocity or torque) of the given 6D vector.

Referenced by iit::rbd::angularPart().

linearPart() [1/2]

template<typename SCALAR>

static Part3D iit::rbd::Core< SCALAR >::linearPart ( Vector6D &  f )

inlinestatic

The 3-coordinate vector with the linear components (linear velocity or force) of the given 6D vector.

Referenced by iit::rbd::linearPart().

angularPart() [2/2]

template<typename SCALAR>

static Part3DConst iit::rbd::Core< SCALAR >::angularPart ( const Vector6D &  f )

inlinestatic

The 3-coordinate vector with the angular components (angular velocity or torque) of the given 6D vector.

linearPart() [2/2]

template<typename SCALAR>

static Part3DConst iit::rbd::Core< SCALAR >::linearPart ( const Vector6D &  f )

inlinestatic

The 3-coordinate vector with the angular components (angular velocity or torque) of the given 6D vector.

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

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