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cySpatial.h File Reference

Detailed Description

Spatial vector algebra classes.

Author
Cem Yuksel

This file includes spatial vector algebra classes intended for the implementation of Featherstone's articulated rigid body dynamics method. SpatialVector6 class is both for spatial motion vectors and spatial force vectors, SpatialTrans6 is a spatial matrix class for coordinate transformations only, and SpatialMatrix6 is the general spatial matrix class.

Classes

class  SpatialVector6< T >
 6D spatial vector (for 3D). More...
 
class  SpatialTrans6< T >
 6D spatial matrix for coordinate transforms. More...
 
class  SpatialMatrix6< T >
 6D spatial matrix. More...
 

Typedefs

typedef SpatialVector6< float > SpatialVector6f
 6D spatial vector (for 3D) with float type elements
 
typedef SpatialTrans6< float > SpatialTrans6f
 6D spatial matrix for coordinate transforms with float type elements
 
typedef SpatialMatrix6< float > SpatialMatrix6f
 6D spatial matrix with float type elements
 
typedef SpatialVector6< double > SpatialVector6d
 6D spatial vector (for 3D) with double type elements
 
typedef SpatialTrans6< double > SpatialTrans6d
 6D spatial matrix for coordinate transforms with double type elements
 
typedef SpatialMatrix6< double > SpatialMatrix6d
 6D spatial matrix with double type elements
 
typedef cy::SpatialVector6f cySpatialVector6f
 6D spatial vector (for 3D) with float type elements
 
typedef cy::SpatialTrans6f cySpatialTrans6f
 6D spatial matrix for coordinate transforms with float type elements
 
typedef cy::SpatialMatrix6f cySpatialMatrix6f
 6D spatial matrix with float type elements
 
typedef cy::SpatialVector6d cySpatialVector6d
 6D spatial vector (for 3D) with double type elements
 
typedef cy::SpatialTrans6d cySpatialTrans6d
 6D spatial matrix for coordinate transforms with double type elements
 
typedef cy::SpatialMatrix6d cySpatialMatrix6d
 6D spatial matrix with double type elements
 

Functions

template<typename T >
SpatialMatrix6< T > operator& (SpatialVector6< T > const &v0, SpatialVector6< T > const &v1)
 tensor product (outer product) of two vectors