SpatialAlgebra.h File Reference

These are declarations for special matrices and vectors of use in implementing Rodriguez and Jain's Spatial Operator Algebra. More...

#include "SimTKcommon/SmallMatrix.h"
#include <iostream>

Go to the source code of this file.

Classes
class	SimTK::PhiMatrix
class	SimTK::PhiMatrixTranspose

Namespaces
	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.

Functions
SpatialVec	SimTK::findRelativeVelocity (const Transform &X_FA, const SpatialVec &V_FA, const Transform &X_FB, const SpatialVec &V_FB)
	Find the relative spatial velocity between two frames A and B whose individual spatial velocities are known with respect to a third frame F, with the result returned in A. More...
SpatialVec	SimTK::findRelativeVelocityInF (const Vec3 &p_AB_F, const SpatialVec &V_FA, const SpatialVec &V_FB)
	Find the relative spatial velocity between two frames A and B whose individual spatial velocities are known in a third frame F, but leave the result in F. More...
SpatialVec	SimTK::findRelativeAcceleration (const Transform &X_FA, const SpatialVec &V_FA, const SpatialVec &A_FA, const Transform &X_FB, const SpatialVec &V_FB, const SpatialVec &A_FB)
	Find the relative spatial acceleration between two frames A and B whose individual spatial accelerations are known with respect to a third frame F, with the result returned in A. More...
SpatialVec	SimTK::findRelativeAccelerationInF (const Vec3 &p_AB_F, const SpatialVec &V_FA, const SpatialVec &A_FA, const SpatialVec &V_FB, const SpatialVec &A_FB)
	Find the relative spatial acceleration between two frames A and B whose individual spatial acceleration are known in a third frame F, but leave the result in F. More...
SpatialVec	SimTK::reverseRelativeVelocity (const Transform &X_AB, const SpatialVec &V_AB)
	Given the relative velocity of frame B in frame A, reverse that to give the relative velocity of frame A in B. More...
SpatialVec	SimTK::reverseRelativeVelocityInA (const Transform &X_AB, const SpatialVec &V_AB)
	Given the relative velocity of frame B in frame A, reverse that to give the relative velocity of frame A in B, but leave the result expressed in frame A. More...
SpatialVec	SimTK::shiftVelocityBy (const SpatialVec &V_AB, const Vec3 &r_A)
	Shift a relative spatial velocity measured at some point to that same relative spatial quantity but measured at a new point given by an offset from the old one. More...
SpatialVec	SimTK::shiftVelocityFromTo (const SpatialVec &V_A_BP, const Vec3 &fromP_A, const Vec3 &toQ_A)
	Shift a relative spatial velocity measured at some point P to that same relative spatial quantity but measured at a new point Q given the points P and Q. More...
SpatialVec	SimTK::shiftForceBy (const SpatialVec &F_AP, const Vec3 &r_A)
	Shift a spatial force applied at some point of a body to that same spatial force applied at a new point given by an offset from the old one. More...
SpatialVec	SimTK::shiftForceFromTo (const SpatialVec &F_AP, const Vec3 &fromP_A, const Vec3 &toQ_A)
	Shift a spatial force applied at some point P of a body to that same spatial force applied at a new point Q, given P and Q. More...
SpatialVec	SimTK::shiftAccelerationBy (const SpatialVec &A_AB, const Vec3 &w_AB, const Vec3 &r_A)
	Shift a relative spatial acceleration measured at some point to that same relative spatial quantity but measured at a new point given by an offset from the old one. More...
SpatialVec	SimTK::shiftAccelerationFromTo (const SpatialVec &A_A_BP, const Vec3 &w_AB, const Vec3 &fromP_A, const Vec3 &toQ_A)
	Shift a relative spatial acceleration measured at some point P to that same relative spatial quantity but measured at a new point Q given the points P and Q. More...
PhiMatrixTranspose	SimTK::transpose (const PhiMatrix &phi)
PhiMatrixTranspose	SimTK::operator~ (const PhiMatrix &phi)
SpatialVec	SimTK::operator* (const PhiMatrix &phi, const SpatialVec &v)
SpatialMat	SimTK::operator* (const PhiMatrix &phi, const SpatialMat &m)
SpatialVec	SimTK::operator* (const PhiMatrixTranspose &phiT, const SpatialVec &v)
SpatialMat	SimTK::operator* (const SpatialMat::THerm &m, const PhiMatrixTranspose &phiT)
SpatialMat	SimTK::operator* (const SpatialMat &m, const PhiMatrixTranspose &phiT)
bool	SimTK::operator== (const PhiMatrix &p1, const PhiMatrix &p2)
bool	SimTK::operator== (const PhiMatrixTranspose &p1, const PhiMatrixTranspose &p2)

Detailed Description

These are declarations for special matrices and vectors of use in implementing Rodriguez and Jain's Spatial Operator Algebra.