Class SpatialForce

Class SpatialForce#

Inheritance Relationships#

Base Type#

Class Documentation#

class SpatialForce : public Karana::Math::SpatialVector#

A force SpatialVector.

Public Functions

SpatialForce operator*(double scale) const#

Scalar multiplication.

Parameters:

scale – Scalar value to multiply by.

Returns:

Scaled SpatialForce.

SpatialForce operator+(const SpatialForce &other) const#

Component-wise addition.

Parameters:

other – The SpatialForce to add to this one.

Returns:

Resulting SpatialForce sum.

SpatialForce &operator+=(const SpatialForce &other)#

In-place component-wise addition.

Parameters:

other – The SpatialForce to add to this one in-place.

Returns:

Reference to this object.

SpatialForce operator-() const#

Negation operator.

Returns:

Negated SpatialForce.

SpatialForce operator-(const SpatialForce &other) const#

Subtract another SpatialForce.

Parameters:

other – The SpatialForce to subtract from this one.

Returns:

Resulting SpatialForce.

SpatialForce operator-=(const SpatialForce &other)#

In-place subtraction.

Parameters:

other – The SpatialForce to subtract from this one.

Returns:

Reference to this object.

SpatialForce operator+(const Vec6 &vec) const#

Add a Vec6 to this spatial force.

Parameters:

vec – The 6D force to add to this SpatialForce.

Returns:

Resulting SpatialForce.

SpatialForce operator-(const Vec6 &vec) const#

Subtract a Vec6 from this spatial force.

Parameters:

vec – The 6D force to subtract from this SpatialForce.

Returns:

Resulting SpatialForce.

SpatialForce cross(const SpatialForce &other)#

Compute 6-D cross product with another spatial force.

\[\begin{split} A \times B = \tilde A B = \begin{bmatrix} \tilde A_w & \tilde A_v \\ 0 & \tilde A_w \end{bmatrix} \begin{bmatrix} B_w \\ B_v \end{bmatrix} \end{split}\]

Parameters:

other – The SpatialForce to compute the cross product with.

Returns:

Resulting SpatialForce.

SpatialForce barprod(const SpatialForce &other)#

Compute the bar product with another spatial force.

\[\begin{split} \bar A B = - {\tilde A}^* B = \begin{bmatrix} \tilde A_w & \tilde A_v \\ 0 & \tilde A_w \end{bmatrix} \begin{bmatrix} B_w \\ B_v \end{bmatrix} \end{split}\]

Parameters:

other – The SpatialForce to compute the bar product with.

Returns:

Resulting SpatialForce.

SpatialForce multiplyFromLeft(const Mat66 &mat) const#

Multiply the force from left with a matrix, i.e v * mat.

Parameters:

mat – Matrix to multiply.

Returns:

Resulting SpatialForce.

SpatialVector()#

Construct initialized to zero.

SpatialVector(const Vec6 &sv)#

Construct using a 6 vector. The first 3 components will be put into w and the last 3 components will be put into v.

Parameters:

sv – 6-element vector representing the entire spatial vector.

SpatialVector(const Vec3 &w, const Vec3 &v)#

Construct using two 3-element vectors. The first will become w and the second will become v.

Parameters:

  • w – Angular portion of the spatial vector.

  • v – Linear portion of the spatial vector.

SpatialVector(const SpatialVector &other)#

Copy constructor.

Parameters:

other – The SpatialVector to copy from.

SpatialVector(SpatialVector &&other) noexcept#

Move constructor.

Parameters:

other – The SpatialVector to move from.

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