sofa::defaulttype::SolidTypes< R > Class Template Reference

#include <SolidTypes.h>

Detailed Description

template<class R = float>
class sofa::defaulttype::SolidTypes< R >

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

Author

François Faure, INRIA-UJF, 2006

Classes
class	ArticulatedInertia
class	RigidInertia
class	Twist
	A twist aka a SpatialVector representing a velocity This is pratically a SpatialVector (screw) with the additionnal 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 pratically a SpatialVector (screw) with the additionnal 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

crossM()

template<class R = float>

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

static

Cross product matrix of a vector.

dyad() [1/2]

template<class R >

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

static

dyad() [2/2]

template<class R >

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

static

mult()

template<class R = float>

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

static

multTrans()

template<class R = float>

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

static

Name()

template<class R = float>

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

inlinestaticconstexpr