iDynTree::SpatialVector class
#include <iDynTree/SpatialVector.h>

Public types

using LinearVector3T = SpatialMotionForceVectorT_traits<DerivedSpatialVecT>::LinearVector3Type
using AngularVector3T = SpatialMotionForceVectorT_traits<DerivedSpatialVecT>::AngularVector3Type
using DualVectorT = DualSpace<DerivedSpatialVecT>::Type

static auto compose(const DerivedSpatialVecT& op1, const DerivedSpatialVecT& op2) -> DerivedSpatialVecT
static auto inverse(const DerivedSpatialVecT& op) -> DerivedSpatialVecT
static auto Zero() -> DerivedSpatialVecT: constructor helpers

SpatialVector(): constructors
SpatialVector(const LinearVector3T& _linearVec3, const AngularVector3T& _angularVec3)
SpatialVector(const SpatialVector& other)
SpatialVector(iDynTree::Span<const double> other)

auto getLinearVec3() -> LinearVector3T&: Vector accessors, getters, setters.
auto getAngularVec3() -> AngularVector3T&
auto getLinearVec3() const -> const LinearVector3T&
auto getAngularVec3() const -> const AngularVector3T&
void setLinearVec3(const LinearVector3T& _linearVec3)
void setAngularVec3(const AngularVector3T& _angularVec3)
auto operator()(const unsigned int index) const -> double: Vector element accessors, getters, setters.
auto operator()(const unsigned int index) -> double&
auto getVal(const unsigned int index) const -> double
auto setVal(const unsigned int index, const double new_el) -> bool
auto size() const -> unsigned int
void zero()
auto changePoint(const Position& newPoint) -> const DerivedSpatialVecT: Geometric operations.
auto changeCoordFrame(const Rotation& newCoordFrame) -> const DerivedSpatialVecT
auto dot(const DualVectorT& other) const -> double: dot product
auto operator=(const DerivedSpatialVecT& other) -> DerivedSpatialVecT&: overloaded operators
auto operator+(const DerivedSpatialVecT& other) const -> DerivedSpatialVecT
auto operator-(const DerivedSpatialVecT& other) const -> DerivedSpatialVecT
auto operator-() const -> DerivedSpatialVecT
auto asVector() const -> Vector6: Conversion to basic vector.