Simbody
3.7

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 toplevel 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) 
SpatialMat  SimTK::operator* (const SpatialMat &m, const PhiMatrix &phi) 
SpatialVec  SimTK::operator* (const PhiMatrixTranspose &phiT, const SpatialVec &v) 
SpatialMat  SimTK::operator* (const PhiMatrixTranspose &phiT, const SpatialMat &m) 
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) 
These are declarations for special matrices and vectors of use in implementing Rodriguez and Jain's Spatial Operator Algebra.