Rigid Body Dynamics Library
SpatialAlgebraOperators.h File Reference

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Data Structures

struct  SpatialRigidBodyInertia
 Compact representation for Spatial Inertia. More...
 
struct  SpatialTransform
 Compact representation of spatial transformations. More...
 

Namespaces

 RigidBodyDynamics
 Namespace for all structures of the RigidBodyDynamics library.
 
 RigidBodyDynamics::Math
 Math types such as vectors and matrices and utility functions.
 

Functions

Matrix3d VectorCrossMatrix (const Vector3d &vector)
 
std::ostream & operator<< (std::ostream &output, const SpatialRigidBodyInertia &rbi)
 
std::ostream & operator<< (std::ostream &output, const SpatialTransform &X)
 
SpatialTransform Xrot (double angle_rad, const Vector3d &axis)
 
SpatialTransform Xrotx (const double &xrot)
 
SpatialTransform Xroty (const double &yrot)
 
SpatialTransform Xrotz (const double &zrot)
 
SpatialTransform Xtrans (const Vector3d &r)
 
SpatialMatrix crossm (const SpatialVector &v)
 
SpatialVector crossm (const SpatialVector &v1, const SpatialVector &v2)
 
SpatialMatrix crossf (const SpatialVector &v)
 
SpatialVector crossf (const SpatialVector &v1, const SpatialVector &v2)