sofa::type::SpatialVector< TReal > Class Template Reference

#include <SpatialVector.h>

Inheritance diagram for sofa::type::SpatialVector< TReal >:

Detailed Description

template<class TReal>
class sofa::type::SpatialVector< TReal >

A spatial vector. When representing a velocity, lineVec is the angular velocity and freeVec is the linear velocity. When representing a spatial force, lineVec is the force and freeVec is the torque.

Public Attributes
Vec	lineVec { type::NOINIT }
Vec	freeVec { type::NOINIT }

Public Member Functions
void	clear ()
	SpatialVector ()=default
	SpatialVector (const Vec &l, const Vec &f)
SpatialVector &	operator+= (const SpatialVector &v)
SpatialVector	operator* (Real a) const
SpatialVector &	operator*= (Real a)
SpatialVector	operator+ (const SpatialVector &v) const
SpatialVector	operator- (const SpatialVector &v) const
SpatialVector	operator- () const
Real	operator* (const SpatialVector &v) const
	Spatial dot product (cross terms) More...
SpatialVector	cross (const SpatialVector &v) const
	Spatial cross product. More...
SpatialVector	operator* (const Mat66 &) const
	product with a dense matrix More...
Vec &	getLinearVelocity ()
const Vec &	getLinearVelocity () const
void	setLinearVelocity (const Vec &v)
Vec &	getAngularVelocity ()
const Vec &	getAngularVelocity () const
void	setAngularVelocity (const Vec &v)
Vec &	getTorque ()
const Vec &	getTorque () const
void	setTorque (const Vec &v)
Vec &	getForce ()
const Vec &	getForce () const
void	setForce (const Vec &v)

Friends
std::ostream &	operator<< (std::ostream &out, const SpatialVector &t)
	write to an output stream More...
std::istream &	operator>> (std::istream &in, SpatialVector &t)
	read from an input stream More...

Attribute details

freeVec

template<class TReal >

Vec sofa::type::SpatialVector< TReal >::freeVec { type::NOINIT }

lineVec

template<class TReal >

Vec sofa::type::SpatialVector< TReal >::lineVec { type::NOINIT }

Constructor details

SpatialVector() [1/2]

template<class TReal >

sofa::type::SpatialVector< TReal >::SpatialVector ( )

default

SpatialVector() [2/2]

template<class TReal >

sofa::type::SpatialVector< TReal >::SpatialVector	(	const Vec &	l,
		const Vec &	f
	)

Parameters

l	The line vector: angular velocity, or force
f	The free vector: linear velocity, or torque

Function details

clear()

template<class TReal >

void sofa::type::SpatialVector< TReal >::clear

cross()

template<class TReal >

SpatialVector< TReal > sofa::type::SpatialVector< TReal >::cross

(

const SpatialVector< TReal > &

v

)

const

Spatial cross product.

getAngularVelocity() [1/2]

template<class TReal >

Vec& sofa::type::SpatialVector< TReal >::getAngularVelocity ( )

inline

If the SpatialVector models a spatial velocity, then the angular velocity is the lineVec. Otherwise, the SpatialVector models a spatial force, and this method returns a force.

getAngularVelocity() [2/2]

template<class TReal >

const Vec& sofa::type::SpatialVector< TReal >::getAngularVelocity ( ) const

inline

getForce() [1/2]

template<class TReal >

Vec& sofa::type::SpatialVector< TReal >::getForce ( )

inline

If the SpatialVector models a spatial force, then the torque is the lineVec. Otherwise, the SpatialVector models a spatial velocity, and this method returns an angular velocity.

getForce() [2/2]

template<class TReal >

const Vec& sofa::type::SpatialVector< TReal >::getForce ( ) const

inline

getLinearVelocity() [1/2]

template<class TReal >

Vec& sofa::type::SpatialVector< TReal >::getLinearVelocity ( )

inline

If the SpatialVector models a spatial velocity, then the linear velocity is the freeVec. Otherwise, the SpatialVector models a spatial force, and this method returns a torque.

getLinearVelocity() [2/2]

template<class TReal >

const Vec& sofa::type::SpatialVector< TReal >::getLinearVelocity ( ) const

inline

getTorque() [1/2]

template<class TReal >

Vec& sofa::type::SpatialVector< TReal >::getTorque ( )

inline

If the SpatialVector models a spatial force, then the torque is the freeVec. Otherwise, the SpatialVector models a spatial velocity, and this method returns a linear velocity.

getTorque() [2/2]

template<class TReal >

const Vec& sofa::type::SpatialVector< TReal >::getTorque ( ) const

inline

operator*() [1/3]

template<class TReal >

SpatialVector< TReal > sofa::type::SpatialVector< TReal >::operator*

(

const Mat66 &

m

)

const

product with a dense matrix

operator*() [2/3]

template<class TReal >

TReal sofa::type::SpatialVector< TReal >::operator*

(

const SpatialVector< TReal > &

v

)

const

Spatial dot product (cross terms)

operator*() [3/3]

template<class TReal >

SpatialVector sofa::type::SpatialVector< TReal >::operator* ( Real  a ) const

inline

operator*=()

template<class TReal >

SpatialVector& sofa::type::SpatialVector< TReal >::operator*= ( Real  a )

inline

operator+()

template<class TReal >

SpatialVector< TReal > sofa::type::SpatialVector< TReal >::operator+

(

const SpatialVector< TReal > &

v

)

const

operator+=()

template<class TReal >

SpatialVector< TReal > & sofa::type::SpatialVector< TReal >::operator+=

(

const SpatialVector< TReal > &

v

)

operator-() [1/2]

template<class TReal >

SpatialVector< TReal > sofa::type::SpatialVector< TReal >::operator-

operator-() [2/2]

template<class TReal >

SpatialVector< TReal > sofa::type::SpatialVector< TReal >::operator-

(

const SpatialVector< TReal > &

v

)

const

setAngularVelocity()

template<class TReal >

void sofa::type::SpatialVector< TReal >::setAngularVelocity ( const Vec &  v )

inline

setForce()

template<class TReal >

void sofa::type::SpatialVector< TReal >::setForce ( const Vec &  v )

inline

setLinearVelocity()

template<class TReal >

void sofa::type::SpatialVector< TReal >::setLinearVelocity ( const Vec &  v )

inline

setTorque()

template<class TReal >

void sofa::type::SpatialVector< TReal >::setTorque ( const Vec &  v )

inline

Related details

operator<<

template<class TReal >

std::ostream& operator<< ( std::ostream &  out, const SpatialVector< TReal > &  t  )

friend

write to an output stream

operator>>

template<class TReal >

std::istream& operator>> ( std::istream &  in, SpatialVector< TReal > &  t  )

friend

read from an input stream