Class SpatialForce

Class SpatialForce#

Defined in File SpatialVector.h

Inheritance Relationships#

Base Type#

public Karana::Math::SpatialVector (Class SpatialVector)

Class Documentation#

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

A force SpatialVector.

Public Functions

SpatialForce(const SpatialForce &other)#

Copy constructor.

Parameters:: other – The SpatialForce to copy from.

SpatialForce &operator=(const SpatialForce &other)#

Copy assignment operator.

Parameters:: other – The SpatialForce to assign from.
Returns:: Reference to this object.

template<class Derived> inline SpatialForce &operator=(const Eigen::MatrixBase<Derived> &expression)#

Copy assignment operator.

Template Parameters:: Derived – The derived Eigen type.
Parameters:: expression – The Eigen expression to copy into the SpatialForce.
Returns:: A reference to this SpatialForce.

SpatialForce(SpatialForce &&other) noexcept#

Move constructor.

Parameters:: other – The SpatialForce to move from.

SpatialForce &operator=(SpatialForce &&other) noexcept#

Move assignment operator.

Parameters:: other – The SpatialForce to move from.
Returns:: Reference to this object.

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.

template<typename Derived> inline explicit SpatialVector(const Eigen::MatrixBase<Derived> &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.

Template Parameters:: Derived – The derived Eigen type.
Parameters:: sv – The Eigen expression to copy into the SpatialVector. This should be a 6-element vector.

template<typename WDerived, typename VDerived> inline explicit SpatialVector(const Eigen::MatrixBase<WDerived> &w, const Eigen::MatrixBase<VDerived> &v)#

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

Template Parameters:

WDerived – The derived eigen type for w.
VDerived – The derived eigen type for v.

Parameters:

w – Angular portion of the spatial vector.
v – Linear portion of the spatial vector.

SpatialVector(const SpatialVector &other)#