Rigid Body Dynamics Library
SpatialAlgebraOperators.h File Reference

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Data Structures

struct  SpatialRigidBodyInertia
 Compact representation for Spatial Inertia. More...
struct  SpatialTransform
 Compact representation of spatial transformations. More...


namespace  RigidBodyDynamics
namespace  RigidBodyDynamics::Math
 Math types such as vectors and matrices and utility functions.


Matrix3d VectorCrossMatrix (const Vector3d &vector)
std::ostream & operator<< (std::ostream &output, const SpatialRigidBodyInertia &rbi)
std::ostream & operator<< (std::ostream &output, const SpatialTransform &X)
SpatialTransform Xrot (Scalar angle_rad, const Vector3d &axis)
SpatialTransform Xrotx (const Scalar &xrot)
SpatialTransform Xroty (const Scalar &yrot)
SpatialTransform Xrotz (const Scalar &zrot)
SpatialTransform Xtrans (const Vector3d &r)
SpatialMatrix crossm (const SpatialVector &v)
SpatialVector crossm (const SpatialVector &v1, const SpatialVector &v2)
SpatialMatrix crossf (const SpatialVector &v)
SpatialVector crossf (const SpatialVector &v1, const SpatialVector &v2)