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

Class providing the raw coordinates for any spatial force vector, (i.e.

vector form of an element of se*(3)).

A force spatial vector can be used to to described spatial momentum, wrench, or their derivatives.

This is just a basic vector, used to implement the adjoint transformations in a general way. The relative adjoint transformation is contained in Transform::apply(SpatialForce), for consistency with the iDynTree::Position class.

Base classes

class SpatialVector<SpatialForceVector>

Derived classes

class SpatialMomentum: Class representing a spatial momentum, i.e.
class Wrench: Class representing a wrench, i.e.

Public types

using LinearVector3T = SpatialMotionForceVectorT_traits<SpatialForceVector>::LinearVector3Type: We use traits here to have the associations SpatialVector <=> Linear/Angular 3D vectors types defined in a single place.
using AngularVector3T = SpatialMotionForceVectorT_traits<SpatialForceVector>::AngularVector3Type

Constructors, destructors, conversion operators

SpatialForceVector(): Default constructor.
SpatialForceVector(const LinearVector3T& _linearVec3, const AngularVector3T& _angularVec3)
SpatialForceVector(const SpatialForceVector& other)
SpatialForceVector(const SpatialVector<SpatialForceVector>& other)
~SpatialForceVector() virtual

Public functions

auto operator*(const double scalar) const -> SpatialForceVector
auto asCrossProductMatrix() const -> Matrix6x6: Liner operator defined in https://arxiv.org/abs/2010.01033 If this object is , return the 6x6 matrix such that, if F is a SpatialForceVector and V is a SpatialMotionVector :

Function documentation

iDynTree::SpatialForceVector::SpatialForceVector()

Default constructor.

The data is not reset to zero for perfomance reason. Please initialize the data in the class before any use.

Matrix6x6 iDynTree::SpatialForceVector::asCrossProductMatrix() const

Liner operator defined in https://arxiv.org/abs/2010.01033 If this object is , return the 6x6 matrix such that, if F is a SpatialForceVector and V is a SpatialMotionVector :

The returned matrix is then the following one: