spatial.h File Reference

Utility functions for manipulating spatial quantities. More...

#include "Math/orientation_tools.h"
#include <eigen3/Eigen/Dense>
#include <cmath>
#include <iostream>
#include <type_traits>

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Namespaces
	spatial

Enumerations
enum	spatial::JointType { spatial::JointType::Prismatic, spatial::JointType::Revolute, spatial::JointType::FloatingBase, spatial::JointType::Nothing }

Functions
template<typename T >
SXform< T >	spatial::spatialRotation (CoordinateAxis axis, T theta)
template<typename T >
auto	spatial::motionCrossMatrix (const Eigen::MatrixBase< T > &v)
template<typename T >
auto	spatial::forceCrossMatrix (const Eigen::MatrixBase< T > &v)
template<typename T >
auto	spatial::motionCrossProduct (const Eigen::MatrixBase< T > &a, const Eigen::MatrixBase< T > &b)
template<typename T >
auto	spatial::forceCrossProduct (const Eigen::MatrixBase< T > &a, const Eigen::MatrixBase< T > &b)
template<typename T >
auto	spatial::sxformToHomogeneous (const Eigen::MatrixBase< T > &X)
template<typename T >
auto	spatial::homogeneousToSXform (const Eigen::MatrixBase< T > &H)
template<typename T , typename T2 >
auto	spatial::createSXform (const Eigen::MatrixBase< T > &R, const Eigen::MatrixBase< T2 > &r)
template<typename T >
auto	spatial::rotationFromSXform (const Eigen::MatrixBase< T > &X)
template<typename T >
auto	spatial::translationFromSXform (const Eigen::MatrixBase< T > &X)
template<typename T >
auto	spatial::invertSXform (const Eigen::MatrixBase< T > &X)
template<typename T >
SVec< T >	spatial::jointMotionSubspace (JointType joint, CoordinateAxis axis)
template<typename T >
Mat6< T >	spatial::jointXform (JointType joint, CoordinateAxis axis, T q)
template<typename T >
Mat3< typename T::Scalar >	spatial::rotInertiaOfBox (typename T::Scalar mass, const Eigen::MatrixBase< T > &dims)
template<typename T , typename T2 >
auto	spatial::spatialToLinearVelocity (const Eigen::MatrixBase< T > &v, const Eigen::MatrixBase< T2 > &x)
template<typename T >
auto	spatial::spatialToAngularVelocity (const Eigen::MatrixBase< T > &v)
template<typename T , typename T2 >
auto	spatial::spatialToLinearAcceleration (const Eigen::MatrixBase< T > &a, const Eigen::MatrixBase< T2 > &v)
template<typename T , typename T2 , typename T3 >
auto	spatial::spatialToLinearAcceleration (const Eigen::MatrixBase< T > &a, const Eigen::MatrixBase< T2 > &v, const Eigen::MatrixBase< T3 > &x)
template<typename T , typename T2 >
auto	spatial::sXFormPoint (const Eigen::MatrixBase< T > &X, const Eigen::MatrixBase< T2 > &p)
template<typename T , typename T2 >
auto	spatial::forceToSpatialForce (const Eigen::MatrixBase< T > &f, const Eigen::MatrixBase< T2 > &p)

Detailed Description

Utility functions for manipulating spatial quantities.

This file contains functions for working with spatial vectors and transformation matrices.

Definition in file spatial.h.