Class SpatialMomentum#
Defined in File SpatialVector.h
Inheritance Relationships#
Base Type#
public Karana::Math::SpatialVector(Class SpatialVector)
Class Documentation#
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class SpatialMomentum : public Karana::Math::SpatialVector#
A momentum SpatialVector.
Public Functions
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SpatialMomentum operator*(double scale) const#
Scalar multiplication.
- Parameters:
scale – Scalar value to multiply by.
- Returns:
Scaled SpatialMomentum.
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SpatialMomentum operator+(const SpatialMomentum &other) const#
Component-wise addition.
- Parameters:
other – The SpatialMomentum to add to this one.
- Returns:
Resulting SpatialMomentum sum.
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SpatialMomentum &operator+=(const SpatialMomentum &other)#
In-place component-wise addition.
- Parameters:
other – The SpatialMomentum to add to this one in-place.
- Returns:
Reference to this object.
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SpatialMomentum operator-() const#
Negation operator.
- Returns:
Negated SpatialMomentum.
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SpatialMomentum operator-(const SpatialMomentum &other) const#
Subtract another SpatialMomentum.
- Parameters:
other – The SpatialMomentum to subtract from this one.
- Returns:
Resulting SpatialMomentum.
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SpatialMomentum operator-=(const SpatialMomentum &other)#
In-place subtraction.
- Parameters:
other – The SpatialMomentum to subtract from this one.
- Returns:
Reference to this object.
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SpatialMomentum operator+(const Vec6 &vec) const#
Add a Vec6 to this spatial momentum.
- Parameters:
vec – The 6D momentum to add to this SpatialMomentum.
- Returns:
Resulting SpatialMomentum.
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SpatialMomentum operator-(const Vec6 &vec) const#
Subtract a Vec6 from this spatial momentum.
- Parameters:
vec – The 6D momentum to subtract from this SpatialMomentum.
- Returns:
Resulting SpatialMomentum.
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SpatialMomentum cross(const SpatialMomentum &other)#
Compute 6-D cross product with another spatial momentum.
\[\begin{split} A \times B = \tilde A B = \begin{bmatrix} \tilde A_w & \tilde A_v \\ 0 & \tilde A_w \end{bmatrix} \begin{bmatrix} B_w \\ B_v \end{bmatrix} \end{split}\]- Parameters:
other – The SpatialMomentum to compute the cross product with.
- Returns:
Resulting SpatialMomentum.
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SpatialMomentum barprod(const SpatialMomentum &other)#
Compute the bar product with another spatial momentum.
\[\begin{split} \bar A B = - {\tilde A}^* B = \begin{bmatrix} \tilde A_w & \tilde A_v \\ 0 & \tilde A_w \end{bmatrix} \begin{bmatrix} B_w \\ B_v \end{bmatrix} \end{split}\]- Parameters:
other – The SpatialMomentum to compute the bar product with.
- Returns:
Resulting SpatialMomentum.
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SpatialMomentum multiplyFromLeft(const Mat66 &mat) const#
Multiply the momentum from left with a matrix, i.e v * mat.
- Parameters:
mat – Matrix to multiply.
- Returns:
Resulting SpatialMomentum.
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SpatialVector()#
Construct initialized to zero.
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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.
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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.
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SpatialVector(const SpatialVector &other)#
Copy constructor.
- Parameters:
other – The SpatialVector to copy from.
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SpatialVector(SpatialVector &&other) noexcept#
Move constructor.
- Parameters:
other – The SpatialVector to move from.
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SpatialMomentum operator*(double scale) const#