iDynTree::SpatialForceWrtMotionDerivative class
#include <iDynTree/DynamicsLinearizationHelpers.h>

Class representing the derivative of a spatial force vector with respect to a spatial motion vector.

Base classes

template<unsigned int nRows, unsigned int nCols>
class MatrixFixSize<6, 6>
Class providing a simple form of matrix with dynamic size.

Public functions

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

Function documentation

SpatialForceWrtMotionDerivative iDynTree::SpatialForceWrtMotionDerivative::operator*(const Transform& a_X_b)

Equivalent to:

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