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...


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