Robotics Library
0.6.0
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#include <PlueckerTransform.h>
Public Types | |
typedef ::Eigen::Matrix < Scalar, 6, 6 > | MatrixType |
typedef ::Eigen::Matrix < Scalar, 3, 3 > | RotationType |
typedef const RotationType | ConstRotationType |
typedef ::Eigen::Transform < Scalar, 3,::Eigen::Affine > | TransformType |
typedef ::Eigen::Matrix < Scalar, 3, 1 > | TranslationType |
typedef const TranslationType | ConstTranslationType |
Public Member Functions | |
PlueckerTransform () | |
virtual | ~PlueckerTransform () |
PlueckerTransform | inverse () const |
MatrixType | inverseForce () const |
MatrixType | inverseMotion () const |
MatrixType | matrixForce () const |
MatrixType | matrixMotion () const |
template<typename OtherScalar > | |
ForceVector< OtherScalar > | operator* (const ForceVector< OtherScalar > &other) const |
template<typename OtherScalar > | |
MotionVector< OtherScalar > | operator* (const MotionVector< OtherScalar > &other) const |
PlueckerTransform | operator* (const PlueckerTransform &other) const |
template<typename OtherScalar > | |
RigidBodyInertia< OtherScalar > | operator* (const RigidBodyInertia< OtherScalar > &other) const |
template<typename OtherScalar > | |
ArticulatedBodyInertia < OtherScalar > | operator* (const ArticulatedBodyInertia< OtherScalar > &other) const |
template<typename OtherScalar > | |
ForceVector< OtherScalar > | operator/ (const ForceVector< OtherScalar > &other) const |
template<typename OtherScalar > | |
MotionVector< OtherScalar > | operator/ (const MotionVector< OtherScalar > &other) const |
template<typename OtherScalar > | |
RigidBodyInertia< OtherScalar > | operator/ (const RigidBodyInertia< OtherScalar > &other) const |
template<typename OtherScalar > | |
ArticulatedBodyInertia < OtherScalar > | operator/ (const ArticulatedBodyInertia< OtherScalar > &other) const |
RotationType & | rotation () |
ConstRotationType & | rotation () const |
void | setIdentity () |
TransformType | transform () const |
TranslationType & | translation () |
ConstTranslationType & | translation () const |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar | ScalarType |
Private Attributes | |
RotationType | rotationData |
TranslationType | translationData |
typedef const RotationType rl::math::spatial::PlueckerTransform< Scalar >::ConstRotationType |
typedef const TranslationType rl::math::spatial::PlueckerTransform< Scalar >::ConstTranslationType |
typedef ::Eigen::Matrix< Scalar, 6, 6 > rl::math::spatial::PlueckerTransform< Scalar >::MatrixType |
typedef ::Eigen::Matrix< Scalar, 3, 3 > rl::math::spatial::PlueckerTransform< Scalar >::RotationType |
typedef ::Eigen::Transform< Scalar, 3, ::Eigen::Affine > rl::math::spatial::PlueckerTransform< Scalar >::TransformType |
typedef ::Eigen::Matrix< Scalar, 3, 1 > rl::math::spatial::PlueckerTransform< Scalar >::TranslationType |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar rl::math::spatial::PlueckerTransform< Scalar >::ScalarType |
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