#include <SMatrix6.h>
Inheritance diagram for Physsim::SMatrix6:
Public Member Functions | |
| SMatrix6 () | |
| Default constructor -- constructs an identity matrix. | |
| SMatrix6 (const SMatrix6 &source) | |
| Copy constructor. | |
| SMatrix6 (const MatrixN &source) | |
| Copy constructor. | |
| SMatrix6 (const MatrixNN &source) | |
| Copy constructor. | |
| Matrix3 | get_upper_left () const |
| Gets the upper left 3x3 matrix. | |
| Matrix3 | get_upper_right () const |
| Gets the upper right 3x3 matrix. | |
| Matrix3 | get_lower_left () const |
| Gets the lower left 3x3 matrix. | |
| Matrix3 | get_lower_right () const |
| Gets the lower right 3x3 matrix. | |
| void | set_upper_left (const Matrix3 &m) |
| Sets the 3x3 upper left matrix. | |
| void | set_upper_right (const Matrix3 &m) |
| Sets the 3x3 upper right matrix. | |
| void | set_lower_left (const Matrix3 &m) |
| Sets the 3x3 lower left matrix. | |
| void | set_lower_right (const Matrix3 &m) |
| Sets the 3x3 lower right matrix. | |
| void | set_identity () |
| Sets this matrix to identity. | |
| virtual void | transpose () |
| Computes the spatial transpose of this matrix, as defined in [Featherstone, 87], p. 52. | |
| SMatrix6 | transpose (const SMatrix6 &m) |
| Computes the spatial transpose of a 6x6 matrix, as defined in [Featherstone, 87], p. 52. | |
| virtual void | operator= (const MatrixN &source) |
| Sets this matrix to that of another. | |
| virtual void | operator= (const MatrixNN &source) |
| void | operator= (const SMatrix6 &source) |
| SVector6 | operator * (const SVector6 &v) const |
| Multiplies this transformation matrix by a 6D vector. | |
Static Public Member Functions | |
| static SMatrix6 | spatial_cross (const SVector6 &v) |
| Computes the spatial cross operator, as defined in [Featherstone, 87], p. 29. | |
| static SMatrix6 | calc_spatial_transform (const Matrix4 &source, const Matrix4 &target) |
| Calculates the spatial transform given two 4x4 transformation matrices. | |
| static SMatrix6 | calc_spatial_transform (const Matrix3 &sourceR, const Vector3 &sourceX, const Matrix3 &targetR, const Vector3 &targetX) |
| Calculates the spatial transform given two 3x3 rotation matrices and two translation vectors. | |
| static SMatrix6 | invert_inertia (const SMatrix6 &I) |
| Special routine for calculating the inverse of a spatial inertia matrix. | |
Special routine for calculating the inverse of a spatial inertia matrix.
Note that this does not calculate the inverse of a general 6x6 matrix.
1.5.1