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...

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

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)