humoto::rbdl::SpatialTransformWithoutRotation Class Reference

Detailed Description

Efficient spatial transform with identity rotation matrix.

Definition at line 63 of file spatial_transform.h.

#include <spatial_transform.h>

Public Member Functions
	SpatialTransformWithoutRotation (const etools::Vector3 &translation)
	Constructor. More...
template<class t_Derived >
void	apply (Eigen::MatrixBase< t_Derived > const &result_block, const Eigen::MatrixXd &matrix) const
	Apply complete transformation. More...
template<class t_Derived >
void	applyGetTranslationPart (Eigen::MatrixBase< t_Derived > const &result_block, const Eigen::MatrixXd &matrix) const
	Apply transformation and obtain only translational part of the result. More...
template<SpatialType::Type t_type, class t_Derived >
void	applySelective (Eigen::MatrixBase< t_Derived > const &result_block, const Eigen::MatrixXd &matrix) const

Static Public Member Functions
template<class t_Derived >
static void	applyGetRotationPart (Eigen::MatrixBase< t_Derived > const &result_block, const Eigen::MatrixXd &matrix)
	Apply transformation and obtain only rotational part of the result. More...

Private Attributes
etools::Vector3	translation_

Constructor & Destructor Documentation

SpatialTransformWithoutRotation()

humoto::rbdl::SpatialTransformWithoutRotation::SpatialTransformWithoutRotation ( const etools::Vector3 &  translation )

inlineexplicit

Constructor.

Parameters

[in]

translation

translation vector

Definition at line 75 of file spatial_transform.h.

Member Function Documentation

apply()

template<class t_Derived >

void humoto::rbdl::SpatialTransformWithoutRotation::apply ( Eigen::MatrixBase< t_Derived > const &  result_block, const Eigen::MatrixXd &  matrix  ) const

inline

Apply complete transformation.

Template Parameters

t_Derived

Eigen template parameter

Parameters

[out]	result_block	6xN result matrix (const is dropped inside)
[in]	matrix	6xN matrix to transform

Definition at line 90 of file spatial_transform.h.

applyGetRotationPart()

template<class t_Derived >

static void humoto::rbdl::SpatialTransformWithoutRotation::applyGetRotationPart ( Eigen::MatrixBase< t_Derived > const &  result_block, const Eigen::MatrixXd &  matrix  )

inlinestatic

Apply transformation and obtain only rotational part of the result.

Template Parameters

t_Derived

Eigen template parameter

Parameters

[out]	result_block	3xN result matrix (const is dropped inside)
[in]	matrix	6xN matrix to transform

Definition at line 139 of file spatial_transform.h.

applyGetTranslationPart()

template<class t_Derived >

void humoto::rbdl::SpatialTransformWithoutRotation::applyGetTranslationPart ( Eigen::MatrixBase< t_Derived > const &  result_block, const Eigen::MatrixXd &  matrix  ) const

inline

Apply transformation and obtain only translational part of the result.

Template Parameters

t_Derived

Eigen template parameter

Parameters

[out]	result_block	3xN result matrix (const is dropped inside)
[in]	matrix	6xN matrix to transform

Definition at line 116 of file spatial_transform.h.

applySelective()

template<SpatialType::Type t_type, class t_Derived >

void humoto::rbdl::SpatialTransformWithoutRotation::applySelective ( Eigen::MatrixBase< t_Derived > const &  result_block, const Eigen::MatrixXd &  matrix  ) const

inline

Definition at line 147 of file spatial_transform.h.

Member Data Documentation

translation_

etools::Vector3 humoto::rbdl::SpatialTransformWithoutRotation::translation_

private

Definition at line 66 of file spatial_transform.h.

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The documentation for this class was generated from the following file:

• bridges/rbdl/interface/rbdl/spatial_transform.h