#include <SolidTypes.h>

Detailed Description

Base types for the ArticulatedSolid: position, orientation, velocity, angular velocity, etc.

Classes
class	ArticulatedInertia

class	RigidInertia

class	Twist
	A twist aka a SpatialVector representing a velocity This is practically a SpatialVector (screw) with the additional semantics that this screw represents a twist (velocity) and not a wrench (force and torque) More...

class	Wrench
	A wrench aka a SpatialVector representing a force and a torque This is practically a SpatialVector (screw) with the additional semantics that this screw represents a wrench (force and torque) and not a twist (velocity) More...

Static Public Member Functions
static Mat	dyad (const Vec &u, const Vec &v)

static Vec	mult (const Mat &m, const Vec &v)

static Vec	multTrans (const Mat &m, const Vec &v)

static Mat	crossM (const Vec &v)
	Cross product matrix of a vector. More...

static ArticulatedInertia	dyad (const SpatialVector &u, const SpatialVector &v)

static constexpr const char *	Name ()

Function details

template<class R = float>

SolidTypes< R >::Mat3x3 sofa::defaulttype::SolidTypes< R >::crossM ( const Vec & v )

static

Cross product matrix of a vector.

template<class R >

SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::dyad	(	const SpatialVector &	u,
		const SpatialVector &	v
	)

static

template<class R >

SolidTypes< R >::Mat3x3 sofa::defaulttype::SolidTypes< R >::dyad	(	const Vec &	u,
		const Vec &	v
	)

static

template<class R = float>

SolidTypes< R >::Vec sofa::defaulttype::SolidTypes< R >::mult	(	const Mat &	m,
		const Vec &	v
	)

static

template<class R = float>

SolidTypes< R >::Vec sofa::defaulttype::SolidTypes< R >::multTrans	(	const Mat &	m,
		const Vec &	v
	)

static

template<class R = float>

static constexpr const char* sofa::defaulttype::SolidTypes< R >::Name ( )

inlinestaticconstexpr