rl::math::spatial::PlueckerTransform< Scalar > Class Template Reference

Plücker transform. More...

#include <PlueckerTransform.h>

Public Types
typedef Scalar	ScalarType
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

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

ScalarType

template<typename Scalar >

typedef Scalar rl::math::spatial::PlueckerTransform< Scalar >::ScalarType

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 >

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

inline

operator*() [2/5]

template<typename Scalar >

template<typename OtherScalar >

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

inline

operator*() [3/5]

template<typename Scalar >

template<typename OtherScalar >

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

inline

operator*() [4/5]

template<typename Scalar >

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

inline

operator*() [5/5]

template<typename Scalar >

template<typename OtherScalar >

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

inline

operator/() [1/4]

template<typename Scalar >

template<typename OtherScalar >

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

inline

operator/() [2/4]

template<typename Scalar >

template<typename OtherScalar >

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

inline

operator/() [3/4]

template<typename Scalar >

template<typename OtherScalar >

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

inline

operator/() [4/4]

template<typename Scalar >

template<typename OtherScalar >

RigidBodyInertia< OtherScalar > rl::math::spatial::PlueckerTransform< Scalar >::operator/ ( const RigidBodyInertia< 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

translationData

template<typename Scalar >

TranslationType rl::math::spatial::PlueckerTransform< Scalar >::translationData

private

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

• rl/math/spatial/PlueckerTransform.h
• rl/math/spatial/PlueckerTransform.hxx