#include <SolidTypes.h>
Base types for the ArticulatedSolid: position, orientation, velocity, angular velocity, etc.
Classes | |
| class | ArticulatedInertia |
| class | RigidInertia |
| class | Twist |
| A twist aka a SpatialVector representing a velocity This is practically a SpatialVector (screw) with the additional semantics that this screw represents a twist (velocity) and not a wrench (force and torque) More... | |
| class | Wrench |
| A wrench aka a SpatialVector representing a force and a torque This is practically a SpatialVector (screw) with the additional semantics that this screw represents a wrench (force and torque) and not a twist (velocity) More... | |
Static Public Member Functions | |
| static Mat | dyad (const Vec &u, const Vec &v) |
| static Vec | mult (const Mat &m, const Vec &v) |
| static Vec | multTrans (const Mat &m, const Vec &v) |
| static Mat | crossM (const Vec &v) |
| Cross product matrix of a vector. More... | |
| static ArticulatedInertia | dyad (const SpatialVector &u, const SpatialVector &v) |
| static constexpr const char * | Name () |
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Cross product matrix of a vector.
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inlinestaticconstexpr |