dse3 Class Reference

Dual space of se(3). More...

#include <LieGroup.h>

List of all members.

Public Member Functions
	dse3 (int c)
	dse3 (scalar c)
	dse3 (scalar c0, scalar c1, scalar c2, scalar c3, scalar c4, scalar c5)
	dse3 (scalar mass, const se3 &dV)
const dse3 &	operator+ (void) const
dse3	operator- (void) const
const dse3 &	operator= (const dse3 &)
const dse3 &	operator= (const Vec3 &f)
const dse3 &	operator= (scalar c)
const dse3 &	operator+= (const dse3 &)
const dse3 &	operator-= (const dse3 &)
const dse3 &	operator*= (scalar)
dse3	operator+ (const dse3 &) const
dse3	operator- (const dse3 &) const
dse3	operator* (scalar) const
scalar &	operator[] (int idx)
void	dad (const se3 &V, const dse3 &F)
void	dAd (const SE3 &T, const dse3 &F)
Friends
ostream &	operator<< (ostream &, const dse3 &)
dse3	operator* (scalar, const dse3 &)
scalar	operator* (const dse3 &F, const Vec3 &V)
dse3	dAd (const SE3 &T, const dse3 &F)
dse3	InvdAd (const SE3 &T, const dse3 &F)
scalar	SquareSum (const dse3 &)

---

Detailed Description

dse3 is a class for representing , a dual of the Lie algebra . Geometrically it deals with generalized force. The first three elements correspond to moment(or torque) and the last three elements correspond to force.

---

Constructor & Destructor Documentation

dse3::dse3

(

int

c

)

[explicit]

constructor : (c, c, c, c, c, c)

dse3::dse3

(

scalar

c

)

[explicit]

constructor : (c, c, c, c, c, c)

dse3::dse3	(	scalar	c0,
		scalar	c1,
		scalar	c2,
		scalar	c3,
		scalar	c4,
		scalar	c5
	)			[explicit]

constructor : (c0, c1, c2, c3, c4, c5)

dse3::dse3	(	scalar	mass,
		const se3 &	dV
	)			[explicit]

constructor : Inertia(mass) * dV

---

Member Function Documentation

const dse3 & dse3::operator+

(

void

)

const

unary plus operator

dse3 dse3::operator-

(

void

)

const

unary minus operator

const dse3 & dse3::operator=

(

const dse3 &

t

)

substitution operator

const dse3 & dse3::operator=

(

const Vec3 &

f

)

fast version of = dse3(0, f)

const dse3 & dse3::operator=

(

scalar

c

)

substitution operator, fast version of = dse3(c)

const dse3 & dse3::operator+=

(

const dse3 &

t

)

+= operator

const dse3 & dse3::operator-=

(

const dse3 &

t

)

-= operator

const dse3 & dse3::operator*=

(

scalar

d

)

= operator

dse3 dse3::operator+

(

const dse3 &

t

)

const

addition operator

dse3 dse3::operator-

(

const dse3 &

t

)

const

subtraction operator

dse3 dse3::operator*

(

scalar

d

)

const

scalar multiplication operator

scalar & dse3::operator[]

(

int

idx

)

access to the idx th element.

void dse3::dad	(	const se3 &	V,
		const dse3 &	F
	)

set itself to be dad(V, F).

void dse3::dAd	(	const SE3 &	T,
		const dse3 &	F
	)

set itself to be dAd(T, F).

---

Friends And Related Function Documentation

ostream& operator<<	(	ostream &	,
		const dse3 &
	)			[friend]

standard output operator

dse3 operator*	(	scalar	d,
		const dse3 &	t
	)			[friend]

scalar multiplication operator

scalar operator*	(	const dse3 &	F,
		const Vec3 &	V
	)			[friend]

fast version of F * se3(0, V)

dse3 dAd	(	const SE3 &	T,
		const dse3 &	F
	)			[friend]

dual adjoint mapping

Note:

, where .

dse3 InvdAd	(	const SE3 &	T,
		const dse3 &	F
	)			[friend]

fast version of dAd(Inv(T), F)

scalar SquareSum

(

const dse3 &

t

)

[friend]

get a squared sum of all the elements in p.