Robotics Library  0.7.0
Public Types | Public Member Functions | Public Attributes | Private Attributes | List of all members
rl::math::spatial::PlueckerTransform< Scalar > Class Template Reference

Plücker transform. More...

#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
 
RotationTyperotation ()
 
ConstRotationTyperotation () const
 
void setIdentity ()
 
TransformType transform () const
 
TranslationTypetranslation ()
 
ConstTranslationTypetranslation () const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar ScalarType
 

Private Attributes

RotationType rotationData
 
TranslationType translationData
 

Detailed Description

template<typename Scalar>
class rl::math::spatial::PlueckerTransform< Scalar >

Plücker transform.

Member Typedef Documentation

◆ ConstRotationType

template<typename Scalar >
typedef const RotationType rl::math::spatial::PlueckerTransform< Scalar >::ConstRotationType

◆ ConstTranslationType

template<typename Scalar >
typedef const TranslationType rl::math::spatial::PlueckerTransform< Scalar >::ConstTranslationType

◆ MatrixType

template<typename Scalar >
typedef ::Eigen::Matrix<Scalar, 6, 6> rl::math::spatial::PlueckerTransform< Scalar >::MatrixType

◆ RotationType

template<typename Scalar >
typedef ::Eigen::Matrix<Scalar, 3, 3> rl::math::spatial::PlueckerTransform< Scalar >::RotationType

◆ TransformType

template<typename Scalar >
typedef ::Eigen::Transform<Scalar, 3, ::Eigen::Affine> rl::math::spatial::PlueckerTransform< Scalar >::TransformType

◆ TranslationType

template<typename Scalar >
typedef ::Eigen::Matrix<Scalar, 3, 1> rl::math::spatial::PlueckerTransform< Scalar >::TranslationType

Constructor & Destructor Documentation

◆ PlueckerTransform()

template<typename Scalar >
rl::math::spatial::PlueckerTransform< Scalar >::PlueckerTransform ( )
inline

◆ ~PlueckerTransform()

template<typename Scalar >
virtual rl::math::spatial::PlueckerTransform< Scalar >::~PlueckerTransform ( )
inlinevirtual

Member Function Documentation

◆ inverse()

template<typename Scalar >
PlueckerTransform rl::math::spatial::PlueckerTransform< Scalar >::inverse ( ) const
inline

◆ inverseForce()

template<typename Scalar >
MatrixType rl::math::spatial::PlueckerTransform< Scalar >::inverseForce ( ) const
inline

◆ inverseMotion()

template<typename Scalar >
MatrixType rl::math::spatial::PlueckerTransform< Scalar >::inverseMotion ( ) const
inline

◆ matrixForce()

template<typename Scalar >
MatrixType rl::math::spatial::PlueckerTransform< Scalar >::matrixForce ( ) const
inline

◆ matrixMotion()

template<typename Scalar >
MatrixType rl::math::spatial::PlueckerTransform< Scalar >::matrixMotion ( ) const
inline

◆ operator*() [1/5]

template<typename Scalar >
template<typename OtherScalar >
ForceVector< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator* ( const ForceVector< OtherScalar > &  other) const
inline

◆ operator*() [2/5]

template<typename Scalar >
template<typename OtherScalar >
MotionVector< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator* ( const MotionVector< OtherScalar > &  other) const
inline

◆ operator*() [3/5]

template<typename Scalar >
PlueckerTransform rl::math::spatial::PlueckerTransform< Scalar >::operator* ( const PlueckerTransform< Scalar > &  other) const
inline

◆ operator*() [4/5]

template<typename Scalar >
template<typename OtherScalar >
RigidBodyInertia< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator* ( const RigidBodyInertia< OtherScalar > &  other) const
inline

◆ operator*() [5/5]

template<typename Scalar >
template<typename OtherScalar >
ArticulatedBodyInertia< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator* ( const ArticulatedBodyInertia< OtherScalar > &  other) const
inline

◆ operator/() [1/4]

template<typename Scalar >
template<typename OtherScalar >
ForceVector< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator/ ( const ForceVector< OtherScalar > &  other) const
inline

◆ operator/() [2/4]

template<typename Scalar >
template<typename OtherScalar >
MotionVector< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator/ ( const MotionVector< OtherScalar > &  other) const
inline

◆ operator/() [3/4]

template<typename Scalar >
template<typename OtherScalar >
RigidBodyInertia< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator/ ( const RigidBodyInertia< OtherScalar > &  other) const
inline

◆ operator/() [4/4]

template<typename Scalar >
template<typename OtherScalar >
ArticulatedBodyInertia< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator/ ( const ArticulatedBodyInertia< OtherScalar > &  other) const
inline

◆ rotation() [1/2]

template<typename Scalar >
RotationType& rl::math::spatial::PlueckerTransform< Scalar >::rotation ( )
inline

◆ rotation() [2/2]

template<typename Scalar >
ConstRotationType& rl::math::spatial::PlueckerTransform< Scalar >::rotation ( ) const
inline

◆ setIdentity()

template<typename Scalar >
void rl::math::spatial::PlueckerTransform< Scalar >::setIdentity ( )
inline

◆ transform()

template<typename Scalar >
TransformType rl::math::spatial::PlueckerTransform< Scalar >::transform ( ) const
inline

◆ translation() [1/2]

template<typename Scalar >
TranslationType& rl::math::spatial::PlueckerTransform< Scalar >::translation ( )
inline

◆ translation() [2/2]

template<typename Scalar >
ConstTranslationType& rl::math::spatial::PlueckerTransform< Scalar >::translation ( ) const
inline

Member Data Documentation

◆ rotationData

template<typename Scalar >
RotationType rl::math::spatial::PlueckerTransform< Scalar >::rotationData
private

◆ ScalarType

template<typename Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Scalar rl::math::spatial::PlueckerTransform< Scalar >::ScalarType

◆ translationData

template<typename Scalar >
TranslationType rl::math::spatial::PlueckerTransform< Scalar >::translationData
private

The documentation for this class was generated from the following files: