SpatialAlgebra.h File Reference

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

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.