#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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 | static | 
Cross product matrix of a vector.
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 | inlinestaticconstexpr |