spatial.hpp File Reference

#include <Eigen/Dense>
#include <cmath>

Go to the source code of this file.

Typedefs
typedef Matrix< double, 6, 1 >	Eigen::Vector6d
typedef Matrix< double, 6, 6 >	Eigen::Matrix6d

Functions
Eigen::Vector6d	screwAxis (const Eigen::Vector3d &q, const Eigen::Vector3d &s, const double h=0.0)
	Create screw axis.
template<int n>
Eigen::Matrix< double, 6, n >	screwAxis (const Eigen::Matrix< double, 3, n > &q, const Eigen::Matrix< double, 3, n > &s, const Eigen::Vector< double, n > &h=Eigen::Vector< double, n >::Zero())
	Create screw axis list.
Eigen::Vector6d	pointsToScrew (const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
	Create screw axis from points.
Eigen::Matrix6d	makeG (const Eigen::Matrix3d &I, const double &m)
	Create spatial inertia matrix.
double	cubicTimeScaling (const double t, const double dt)
	Apply cubic time scaling.
double	quinticTimeScaling (const double t, const double dt)
	Apply quintic time scaling.

Function Documentation

cubicTimeScaling()

double cubicTimeScaling ( const double t, const double dt )

inline

Apply cubic time scaling.

Parameters

[in]	t	Elapsed time (0 - dt)
[in]	dt	Total time duration

Returns

position along cubic spline

makeG()

Eigen::Matrix6d makeG ( const Eigen::Matrix3d & I, const double & m )

inline

Create spatial inertia matrix.

Parameters

[in]	I	3x3 inertia matrix
[in]	m	mass

Returns

6x6 spatial inertia matrix

pointsToScrew()

Eigen::Vector6d pointsToScrew ( const Eigen::Vector3d & p1, const Eigen::Vector3d & p2 )

inline

Create screw axis from points.

Create a screw axis from point p1 to point p2

Parameters

[in]	p1	3-vector first point
[in]	p2	3-vector second point

Returns

6-vector screw axis

quinticTimeScaling()

double quinticTimeScaling ( const double t, const double dt )

inline

Apply quintic time scaling.

Parameters

[in]	t	Elapsed time (0 - dt)
[in]	dt	Total time duration

Returns

position along quintic spline

screwAxis() [1/2]

template<int n>

Eigen::Matrix< double, 6, n > screwAxis ( const Eigen::Matrix< double, 3, n > & q, const Eigen::Matrix< double, 3, n > & s, const Eigen::Vector< double, n > & h = Eigen::Vector<double, n>::Zero() )

inline

Create screw axis list.

Parameters

[in]	q	3-vector screw axis
[in]	s	3-vector screw offset
[in]	h	Screw pitch

Returns

6-vector screw axis

screwAxis() [2/2]

Eigen::Vector6d screwAxis ( const Eigen::Vector3d & q, const Eigen::Vector3d & s, const double h = 0.0 )

inline

Create screw axis.

Parameters

[in]	q	3-vector screw axis
[in]	s	3-vector screw offset
[in]	h	Screw pitch

Returns

6-vector screw axis