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

#include <SolidTypes.h>

Collaboration diagram for sofa::defaulttype::SolidTypes< R >::ArticulatedInertia:

[legend]

Public Member Functions
	ArticulatedInertia ()
	ArticulatedInertia (const Mat &M, const Mat &H, const Mat &I)
SpatialVector	operator* (const SpatialVector &v) const
ArticulatedInertia	operator* (Real r) const
ArticulatedInertia &	operator= (const RigidInertia &Ri)
ArticulatedInertia &	operator+= (const ArticulatedInertia &Ai)
ArticulatedInertia	operator+ (const ArticulatedInertia &Ai) const
ArticulatedInertia	operator- (const ArticulatedInertia &Ai) const
void	copyTo (Mat66 &) const
	Convert to a full 6x6 matrix.
Data Fields
Mat	M
Mat	H
Mat	I
Friends
std::ostream &	operator<< (std::ostream &out, const ArticulatedInertia &r)

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Detailed Description

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

Definition at line 300 of file SolidTypes.h.

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Constructor & Destructor Documentation

template<class R >

sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::ArticulatedInertia

(

)

[inline]

Definition at line 443 of file SolidTypes.inl.

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

template<class R >

sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::ArticulatedInertia	(	const Mat &	M,
		const Mat &	H,
		const Mat &	I
	)			[inline]

Definition at line 447 of file SolidTypes.inl.

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Member Function Documentation

template<class R >

void sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::copyTo

(

Mat66 &

m

)

const [inline]

Convert to a full 6x6 matrix.

Definition at line 509 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I, and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M.

template<class R >

SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator*

(

Real

r

)

const [inline]

Definition at line 460 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::ArticulatedInertia(), sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I, and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M.

template<class R >

SolidTypes< R >::SpatialVector sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator*

(

const SpatialVector &

v

)

const [inline]

Definition at line 451 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::SpatialVector::freeVec, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I, sofa::defaulttype::SolidTypes< R >::SpatialVector::lineVec, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M, sofa::defaulttype::SolidTypes< R >::mult(), and sofa::defaulttype::SolidTypes< R >::multTrans().

template<class R >

SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator+

(

const ArticulatedInertia &

Ai

)

const [inline]

Definition at line 497 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::ArticulatedInertia(), sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I, and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M.

template<class R >

SolidTypes< R >::ArticulatedInertia & sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator+=

(

const ArticulatedInertia &

Ai

)

[inline]

Definition at line 488 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I, and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M.

template<class R >

SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator-

(

const ArticulatedInertia &

Ai

)

const [inline]

Definition at line 503 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::ArticulatedInertia(), sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I, and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M.

template<class R >

SolidTypes< R >::ArticulatedInertia & sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::operator=

(

const RigidInertia &

Ri

)

[inline]

Definition at line 466 of file SolidTypes.inl.

References sofa::defaulttype::SolidTypes< R >::crossM(), sofa::defaulttype::SolidTypes< R >::RigidInertia::h, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H, sofa::defaulttype::SolidTypes< R >::RigidInertia::I, sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I, sofa::defaulttype::SolidTypes< R >::RigidInertia::m, and sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M.

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Friends And Related Function Documentation

template<class R = float>

std::ostream& operator<<	(	std::ostream &	out,
		const ArticulatedInertia &	r
	)			[friend]

Definition at line 314 of file SolidTypes.h.

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Field Documentation

template<class R = float>

Mat sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::H

Definition at line 304 of file SolidTypes.h.

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

template<class R = float>

Mat sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::I

Definition at line 305 of file SolidTypes.h.

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

template<class R = float>

Mat sofa::defaulttype::SolidTypes< R >::ArticulatedInertia::M

Definition at line 303 of file SolidTypes.h.

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

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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