sofa::defaulttype::SolidTypes< R > Class Template Reference

Base types for the ArticulatedSolid: position, orientation, velocity, angular velocity, etc. More...

#include <SolidTypes.h>

Data Structures
class	ArticulatedInertia
class	RigidInertia
class	SparseData
class	SpatialVector
	A spatial vector. More...
class	Transform
	Define a frame (child) whith respect to another (parent). More...
Public Types
typedef R	Real
typedef defaulttype::Vec< 3, Real >	Vec
typedef helper::Quater< Real >	Rot
typedef defaulttype::Mat < 3, 3, Real >	Mat
typedef defaulttype::Mat < 6, 6, Real >	Mat66
typedef defaulttype::Vec< 6, Real >	DOF
typedef Transform	Coord
typedef SpatialVector	Deriv
typedef Coord	VecCoord
typedef Deriv	VecDeriv
typedef Real	VecReal
typedef SparseData< Coord >	SparseCoord
typedef SparseData< Deriv >	SparseDeriv
typedef helper::vector < SparseCoord >	SparseVecCoord
typedef helper::vector < SparseDeriv >	SparseVecDeriv
typedef helper::vector < SparseVecDeriv >	VecConst
	All the Constraints applied to a state Vector.
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.
static ArticulatedInertia	dyad (const SpatialVector &u, const SpatialVector &v)
static const char *	Name ()

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Detailed Description

template<class R = float>
class sofa::defaulttype::SolidTypes< R >

Base types for the ArticulatedSolid: position, orientation, velocity, angular velocity, etc.

Author:

François Faure, INRIA-UJF, 2006

Definition at line 60 of file SolidTypes.h.

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Member Typedef Documentation

template<class R = float>

typedef Transform sofa::defaulttype::SolidTypes< R >::Coord

Definition at line 325 of file SolidTypes.h.

template<class R = float>

typedef SpatialVector sofa::defaulttype::SolidTypes< R >::Deriv

Definition at line 326 of file SolidTypes.h.

template<class R = float>

typedef defaulttype::Vec<6,Real> sofa::defaulttype::SolidTypes< R >::DOF

Definition at line 68 of file SolidTypes.h.

template<class R = float>

typedef defaulttype::Mat<3,3,Real> sofa::defaulttype::SolidTypes< R >::Mat

Definition at line 66 of file SolidTypes.h.

template<class R = float>

typedef defaulttype::Mat<6,6,Real> sofa::defaulttype::SolidTypes< R >::Mat66

Definition at line 67 of file SolidTypes.h.

template<class R = float>

typedef R sofa::defaulttype::SolidTypes< R >::Real

Definition at line 63 of file SolidTypes.h.

template<class R = float>

typedef helper::Quater<Real> sofa::defaulttype::SolidTypes< R >::Rot

Definition at line 65 of file SolidTypes.h.

template<class R = float>

typedef SparseData<Coord> sofa::defaulttype::SolidTypes< R >::SparseCoord

Definition at line 343 of file SolidTypes.h.

template<class R = float>

typedef SparseData<Deriv> sofa::defaulttype::SolidTypes< R >::SparseDeriv

Definition at line 344 of file SolidTypes.h.

template<class R = float>

typedef helper::vector<SparseCoord> sofa::defaulttype::SolidTypes< R >::SparseVecCoord

Definition at line 346 of file SolidTypes.h.

template<class R = float>

typedef helper::vector<SparseDeriv> sofa::defaulttype::SolidTypes< R >::SparseVecDeriv

Definition at line 347 of file SolidTypes.h.

template<class R = float>

typedef defaulttype::Vec<3,Real> sofa::defaulttype::SolidTypes< R >::Vec

Definition at line 64 of file SolidTypes.h.

template<class R = float>

typedef helper::vector<SparseVecDeriv> sofa::defaulttype::SolidTypes< R >::VecConst

All the Constraints applied to a state Vector.

Definition at line 350 of file SolidTypes.h.

template<class R = float>

typedef Coord sofa::defaulttype::SolidTypes< R >::VecCoord

Definition at line 327 of file SolidTypes.h.

template<class R = float>

typedef Deriv sofa::defaulttype::SolidTypes< R >::VecDeriv

Definition at line 328 of file SolidTypes.h.

template<class R = float>

typedef Real sofa::defaulttype::SolidTypes< R >::VecReal

Definition at line 329 of file SolidTypes.h.

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Member Function Documentation

template<class R = float>

static Mat sofa::defaulttype::SolidTypes< R >::crossM

(

const Vec &

v

)

[static]

Cross product matrix of a vector.

Referenced by sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*(), and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator=().

template<class R >

SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::dyad	(	const SpatialVector &	u,
		const SpatialVector &	v
	)			[inline, static]

Definition at line 572 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::dyad(), sofa::defaulttype::SolidTypes< R >::SpatialVector::freeVec, and sofa::defaulttype::SolidTypes< R >::SpatialVector::lineVec.

template<class R >

SolidTypes< R >::Mat sofa::defaulttype::SolidTypes< R >::dyad	(	const Vec &	u,
		const Vec &	v
	)			[inline, static]

Definition at line 579 of file SolidTypes.inl.

Referenced by sofa::defaulttype::SolidTypes< R >::dyad().

template<class R = float>

static Vec sofa::defaulttype::SolidTypes< R >::mult	(	const Mat &	m,
		const Vec &	v
	)			[static]

Referenced by sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator*(), and sofa::defaulttype::SolidTypes< R >::RigidInertia::operator*().

template<class R = float>

static Vec sofa::defaulttype::SolidTypes< R >::multTrans	(	const Mat &	m,
		const Vec &	v
	)			[static]

Referenced by sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator*().

template<class R = float>

static const char* sofa::defaulttype::SolidTypes< R >::Name

(

)

[inline, static]

Definition at line 364 of file SolidTypes.h.

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

• framework/sofa/defaulttype/SolidTypes.h
• framework/sofa/defaulttype/SolidTypes.inl