Class SpatialMomentum

Class SpatialMomentum#

Defined in File SpatialVector.h

Inheritance Relationships#

Base Type#

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

Class Documentation#

class SpatialMomentum : public Karana::Math::SpatialVector #

A momentum SpatialVector.

Public Functions

SpatialMomentum(const SpatialMomentum &other)#

Copy constructor.

Parameters:: other – The SpatialMomentum to copy from.

SpatialMomentum &operator=(const SpatialMomentum &other)#

Copy assignment operator.

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

template<class Derived> inline SpatialMomentum &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 SpatialMomentum.
Returns:: A reference to this SpatialMomentum.

SpatialMomentum(SpatialMomentum &&other) noexcept#

Move constructor.

Parameters:: other – The SpatialMomentum to move from.

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

Move assignment operator.

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

SpatialMomentum operator*(double scale) const#

Scalar multiplication.

Parameters:: scale – Scalar value to multiply by.
Returns:: Scaled SpatialMomentum.

SpatialMomentum operator+(const SpatialMomentum &other) const#

Component-wise addition.

Parameters:: other – The SpatialMomentum to add to this one.
Returns:: Resulting SpatialMomentum sum.

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.

SpatialMomentum operator-() const#

Negation operator.

Returns:: Negated SpatialMomentum.

SpatialMomentum operator-(const SpatialMomentum &other) const#

Subtract another SpatialMomentum.

Parameters:: other – The SpatialMomentum to subtract from this one.
Returns:: Resulting SpatialMomentum.

SpatialMomentum &operator-=(const SpatialMomentum &other)#

In-place subtraction.

Parameters:: other – The SpatialMomentum to subtract from this one.
Returns:: Reference to this object.

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.

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.

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.

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.

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.

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)#