gcop::MbsManifold Class Reference

#include <mbsmanifold.h>

Inheritance diagram for gcop::MbsManifold:

Collaboration diagram for gcop::MbsManifold:

List of all members.

Public Member Functions
	MbsManifold (int nb, bool fixed=false)
void	Lift (VectorXd &v, const MbsState &xa, const MbsState &xb)
void	Retract (MbsState &xb, const MbsState &xa, const VectorXd &v)
void	dtau (MatrixXd &M, const VectorXd &v)
void	Adtau (MatrixXd &M, const VectorXd &v)
Public Attributes
bool	cay
	use Cayley instead of Exponential

---

Constructor & Destructor Documentation

MbsManifold::MbsManifold	(	int	nb,
		bool	fixed = false
	)

Parameters:

nb	number of bodies (including a base body)
fixed	is the base body fixed (if fixed then it is treated as a "virtual" fixed body)

References gcop::Manifold< MbsState >::lb, and gcop::Manifold< MbsState >::ub.

---

Member Function Documentation

void MbsManifold::Adtau	(	MatrixXd &	M,
		const VectorXd &	v
	)

References gcop::SE3::Ad(), cay, gcop::SE3::cay(), gcop::SE3::exp(), gcop::MbsState::fixed, gcop::SE3::Instance(), and gcop::Manifold< MbsState >::lb.

void MbsManifold::dtau	(	MatrixXd &	M,
		const VectorXd &	v
	)

References cay, gcop::SE3::dcay(), gcop::MbsState::fixed, gcop::SE3::Instance(), gcop::Manifold< MbsState >::lb, and gcop::SE3::tln().

void MbsManifold::Lift	(	VectorXd &	v,
		const MbsState &	xa,
		const MbsState &	xb
	)

References cay, gcop::Group< n, m >::cayinv(), gcop::MbsState::dr, gcop::MbsState::fixed, gcop::MbsState::gs, gcop::SE3::Instance(), gcop::SE3::inv(), gcop::SE3::log(), gcop::MbsState::r, and gcop::MbsState::vs.

void MbsManifold::Retract	(	MbsState &	xb,
		const MbsState &	xa,
		const VectorXd &	v
	)

References cay, gcop::SE3::cay(), gcop::MbsState::dr, gcop::SE3::exp(), gcop::MbsState::fixed, gcop::MbsState::gs, gcop::SE3::Instance(), gcop::MbsState::r, and gcop::MbsState::vs.

---

Member Data Documentation

bool gcop::MbsManifold::cay

use Cayley instead of Exponential

Referenced by Adtau(), dtau(), Lift(), and Retract().

---

The documentation for this class was generated from the following files:

• lib/systems/manifolds/mbsmanifold.h
• lib/systems/manifolds/mbsmanifold.cc