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SBDTypePhysicalVector6< Quantity00, Quantity10 > | getE1 () const |
| Returns the first column of the spatial matrix.
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SBDTypePhysicalVector6< Quantity00, Quantity10 > | getE2 () const |
| Returns the second column of the spatial matrix.
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SBDTypePhysicalVector6< Quantity00, Quantity10 > | getE3 () const |
| Returns the third column of the spatial matrix.
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SBDTypePhysicalVector6< Quantity01, Quantity11 > | getE4 () const |
| Returns the fourth column of the spatial matrix.
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SBDTypePhysicalVector6< Quantity01, Quantity11 > | getE5 () const |
| Returns the fifth column of the spatial matrix.
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SBDTypePhysicalVector6< Quantity01, Quantity11 > | getE6 () const |
| Returns the sixth column of the spatial matrix.
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SBDTypePhysicalMatrix66< SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless > | getValue () const |
| Returns a dimensionless physical matrix whose components are equal to those of this physical matrix.
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void | setValue (const SBDTypePhysicalMatrix66< SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless, SBQuantity::dimensionless > &u) |
| Sets the components of this physical matrix equal to those of the dimensionless physical matrix u .
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SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > | operator+ (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > &mat) const |
| Returns the sum of the spatial matrix with the mat spatial matrix. More...
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void | operator+= (const SBDTypePhysicalMatrix66 &mat) |
| Adds the mat spatial matrix to this spatial matrix. More...
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SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > | operator- (const SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > &mat) const |
| Returns the subtraction of the spatial matrix from the mat spatial matrix. More...
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void | operator-= (const SBDTypePhysicalMatrix66 &mat) |
| Subtracts the mat spatial matrix from this spatial matrix. More...
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SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > | operator- () const |
| Returns the opposite of the spatial matrix. More...
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template<typename QuantityA , typename QuantityL > |
SBDTypePhysicalVector6< typename SBQuantityProduct2< Quantity00, QuantityA >::Type, typename SBQuantityProduct2< Quantity10, QuantityA >::Type > | operator* (const SBDTypePhysicalVector6< QuantityA, QuantityL > &v) const |
| Returns the product of this spatial matrix with the spatial vector v . More...
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SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > | operator* (double d) const |
| Returns the product of this spatial matrix with the double d . More...
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template<typename Quantity > |
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & | operator*= (Quantity d) const |
| Multiplies this spatial matrix with physical quantity d . More...
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template<typename Quantity > |
SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 > & | operator/= (Quantity d) const |
| Divides this spatial matrix by physical quantity d . More...
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template<typename Quantity00, typename Quantity01, typename Quantity10, typename Quantity11>
class SBDTypePhysicalMatrix66< Quantity00, Quantity01, Quantity10, Quantity11 >
- Template Parameters
-
Quantity00 | The quantity type of the top left 3x3 block |
Quantity01 | The quantity type of the top right 3x3 block |
Quantity10 | The quantity type of the bottom left 3x3 block |
Quantity11 | The quantity type of the bottom right 3x3 block |
This template class represents spatial matrices, i.e. 6x6 matrices typically used to describe rigid or articulated inertias and inverse inertias. Spatial matrices are physical quantities, and thus use SAMSON's unit system. In a spatial matrix (e.g. an inertia matrix), the 3x3 blocks may have different units, so that spatial matrices are defined by four units, and the SBDTypePhysicalMatrix66 template class is parameterized by four types: Quantity00
, Quantity01
, Quantity10
and Quantity11
.
Most of the time, developers of SAMSON Elements do not have to use this template, but may directly use some predefined types, e.g. SBMatrix66 (dimensionless spatial matrix), SBInertia66 (spatial inertia) or SBInverseInertia66 (spatial inverse inertia).
Short name: SBPhysicalMatrix66
- See also
- SAMSON's unit system
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SBDTypePhysicalVector6