Spatial Algebra

Spatial algebra. More...

Functions
Transform	fsb::transform_to_spatial (const Transform &transf)
	Convert coordinate transform to spatial transform.
Transform	fsb::transform_inverse_to_spatial (const Transform &transf)
	Convert inverse of a coordinate transform to spatial transform.
MotionVector	fsb::spatial_space_to_body (const Transform &pose, const MotionVector &velocity_space)
	Convert spatial velocity from body frame to space frame.
MotionVector	fsb::spatial_body_to_space (const Transform &pose, const MotionVector &velocity_body)
	Convert spatial velocity from space frame to body-fixed frame.
Jacobian	fsb::spatial_jacobian_body_to_space (const Transform &pose, const Jacobian &jacobian, size_t columns=MaxSize::dofs)
	Convert from jacobian in body frame to space frame.
Jacobian	fsb::spatial_jacobian_space_to_body (const Transform &pose, const Jacobian &jacobian, size_t columns=MaxSize::dofs)
	Convert from jacobian in space frame to body-fixed frame.

Detailed Description

Spatial algebra.

Function Documentation

spatial_body_to_space()

MotionVector fsb::spatial_body_to_space	(	const Transform &	pose,
		const MotionVector &	velocity_body
	)

Convert spatial velocity from space frame to body-fixed frame.

Parameters

pose	Pose of body
velocity_body	Spatial velocity of body in space frame.

Returns

Velocity in body-fixed frame

spatial_jacobian_body_to_space()

Jacobian fsb::spatial_jacobian_body_to_space	(	const Transform &	pose,
		const Jacobian &	jacobian,
		size_t	columns = MaxSize::dofs
	)

Convert from jacobian in body frame to space frame.

Parameters

pose	Pose of body
jacobian	Jacobian for pose in space frame.
columns	Number of columns (degrees of freedom) of Jacobian matrix

Returns

Jacobian in body-fixed frame

spatial_jacobian_space_to_body()

Jacobian fsb::spatial_jacobian_space_to_body	(	const Transform &	pose,
		const Jacobian &	jacobian,
		size_t	columns = MaxSize::dofs
	)

Convert from jacobian in space frame to body-fixed frame.

Parameters

pose	Pose of body
jacobian	Jacobian for pose in space frame.
columns	Number of columns (degrees of freedom) of Jacobian matrix

Returns

Jacobian in body-fixed frame

spatial_space_to_body()

MotionVector fsb::spatial_space_to_body	(	const Transform &	pose,
		const MotionVector &	velocity_space
	)

Convert spatial velocity from body frame to space frame.

Parameters

pose	Pose of body
velocity_space	Spatial velocity of body in space frame.

Returns

Velocity in body-fixed frame

transform_inverse_to_spatial()

Transform fsb::transform_inverse_to_spatial

(

const Transform &

transf

)

Convert inverse of a coordinate transform to spatial transform.

Parameters

transf

Coordinate transform

Returns

Inverse spatial transform

transform_to_spatial()

Transform fsb::transform_to_spatial

(

const Transform &

transf

)

Convert coordinate transform to spatial transform.

Parameters

transf

Coordinate transform

Returns

Spatial transform