iDynTree/DynamicsLinearizationHelpers.h file

Namespaces

namespace iDynTree

Classes

class iDynTree::SpatialMotionWrtMotionDerivative
Class representing the derivative of a spatial motion vector with respect to another spatial motion vector.
class iDynTree::SpatialForceWrtMotionDerivative
Class representing the derivative of a spatial force vector with respect to a spatial motion vector.

Functions

auto operator*(const Transform& a_X_b, const SpatialMotionWrtMotionDerivative& op2) -> SpatialMotionWrtMotionDerivative
Equivalent to:
auto operator*(const Transform& a_X_b, const SpatialForceWrtMotionDerivative& op2) -> SpatialForceWrtMotionDerivative
Equivalent to:

Function documentation

SpatialMotionWrtMotionDerivative operator*(const Transform& a_X_b, const SpatialMotionWrtMotionDerivative& op2)

Equivalent to:

SpatialForceWrtMotionDerivative ret;
toEigen(ret) = toEigen(transform.asAdjointMatrixWrench())*toEigen(ret);
return ret;

SpatialForceWrtMotionDerivative operator*(const Transform& a_X_b, const SpatialForceWrtMotionDerivative& op2)

Equivalent to:

SpatialForceWrtMotionDerivative ret;
toEigen(ret) = toEigen(transform.asAdjointMatrixWrench())*toEigen(ret);
return ret;