fsb__spatial_8h_source.html

#ifndef FSB_SPATIAL_H

#define FSB_SPATIAL_H


#include "fsb_configuration.h"

#include "fsb_motion.h"

#include "fsb_jacobian.h"

#include <cstddef>


namespace fsb

{


Transform transform_to_spatial(const Transform& transf);


Transform transform_inverse_to_spatial(const Transform& transf);


MotionVector spatial_space_to_body(const Transform& pose, const MotionVector& velocity_space);


MotionVector spatial_body_to_space(const Transform& pose, const MotionVector& velocity_body);


Jacobian spatial_jacobian_body_to_space(

    const Transform& pose, const Jacobian& jacobian, size_t columns = MaxSize::kDofs);


Jacobian spatial_jacobian_space_to_body(

    const Transform& pose, const Jacobian& jacobian, size_t columns = MaxSize::kDofs);


} // namespace fsb


#endif // FSB_SPATIAL_H

fsb::spatial_body_to_space
MotionVector spatial_body_to_space(const Transform &pose, const MotionVector &velocity_body)
Convert spatial velocity from space frame to body-fixed frame.
Definition fsb_spatial.cpp:38

fsb::spatial_jacobian_body_to_space
Jacobian spatial_jacobian_body_to_space(const Transform &pose, const Jacobian &jacobian, size_t columns=MaxSize::kDofs)
Convert from jacobian in body frame to space frame.
Definition fsb_spatial.cpp:49

fsb::transform_inverse_to_spatial
Transform transform_inverse_to_spatial(const Transform &transf)
Convert inverse of a coordinate transform to spatial transform.
Definition fsb_spatial.cpp:23

fsb::transform_to_spatial
Transform transform_to_spatial(const Transform &transf)
Convert coordinate transform to spatial transform.
Definition fsb_spatial.cpp:15

fsb::spatial_space_to_body
MotionVector spatial_space_to_body(const Transform &pose, const MotionVector &velocity_space)
Convert spatial velocity from body frame to space frame.
Definition fsb_spatial.cpp:28

fsb::spatial_jacobian_space_to_body
Jacobian spatial_jacobian_space_to_body(const Transform &pose, const Jacobian &jacobian, size_t columns=MaxSize::kDofs)
Convert from jacobian in space frame to body-fixed frame.
Definition fsb_spatial.cpp:77

fsb::MaxSize::kDofs
static constexpr size_t kDofs
Maximum number of degrees of freedom.
Definition fsb_configuration.h:49