Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
MotionVector.hxx
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of the Technische Universitaet Muenchen nor the names of
14 // its contributors may be used to endorse or promote products derived from
15 // this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 
30 #ifndef _RL_MATH_MOTIONVECTOR_HXX_
31 #define _RL_MATH_MOTIONVECTOR_HXX_
32 
33 namespace rl
34 {
35  namespace math
36  {
37  namespace spatial
38  {
39  template< typename Scalar >
40  template< typename OtherScalar >
41  inline
42  ForceVector< OtherScalar >
44  {
46  res.moment() = angular().cross(other.moment()) + linear().cross(other.force());
47  res.force() = angular().cross(other.force());
48  return res;
49  }
50 
51  template< typename Scalar >
52  template< typename OtherScalar >
53  inline
54  Scalar
56  {
57  return angular().dot(other.moment()) + linear().dot(other.force());
58  }
59  }
60  }
61 }
62 
63 #endif // _RL_MATH_MOTIONVECTOR_HXX_