class
#include <iDynTree/SpatialForceVector.h>
SpatialForceVector Class providing the raw coordinates for any spatial force vector, (i.e.
vector form of an element of se*(3)).
A force spatial vector can be used to to described spatial momentum, wrench, or their derivatives.
This is just a basic vector, used to implement the adjoint transformations in a general way. The relative adjoint transformation is contained in Transform::apply(SpatialForce), for consistency with the iDynTree::
Base classes
Derived classes
- class SpatialMomentum
- Class representing a spatial momentum, i.e.
- class Wrench
- Class representing a wrench, i.e.
Public types
-
using LinearVector3T = SpatialMotionForceVectorT_
traits<SpatialForceVector>::LinearVector3Type - We use traits here to have the associations SpatialVector <=> Linear/Angular 3D vectors types defined in a single place.
-
using AngularVector3T = SpatialMotionForceVectorT_
traits<SpatialForceVector>::AngularVector3Type
Constructors, destructors, conversion operators
- SpatialForceVector()
- Default constructor.
- SpatialForceVector(const LinearVector3T& _linearVec3, const AngularVector3T& _angularVec3)
- SpatialForceVector(const SpatialForceVector& other)
- SpatialForceVector(const SpatialVector<SpatialForceVector>& other)
- ~SpatialForceVector() virtual
Public functions
- auto operator*(const double scalar) const -> SpatialForceVector
Function documentation
iDynTree:: SpatialForceVector:: SpatialForceVector()
Default constructor.
The data is not reset to zero for perfomance reason. Please initialize the data in the class before any use.