scitbx::rigid_body::spatial_lib Namespace Reference

See essence/spatial_lib.py. More...

Functions
template<typename ElementType>
af::tiny< ElementType, 6 >	as_tiny_6 (vec3< ElementType > const &a, vec3< ElementType > const &l)
template<typename FloatType>
af::versa< FloatType, af::mat_grid >	xrot (mat3< FloatType > const &e)
	RBDA Tab. 2.2, p. 23.
template<typename FloatType>
af::versa< FloatType, af::mat_grid >	xtrans (vec3< FloatType > const &r)
	RBDA Tab. 2.2, p. 23.
template<typename FloatType>
af::versa< FloatType, af::mat_grid >	cb_as_spatial_transform (rotr3< FloatType > const &cb)
	RBDA Eq. 2.28, p. 22.
template<typename FloatType>
af::versa< FloatType, af::mat_grid >	crm (af::tiny< FloatType, 6 > const &v)
	RBDA Eq. 2.31, p. 25.
template<typename FloatType>
af::versa< FloatType, af::mat_grid >	crf (af::tiny< FloatType, 6 > const &v)
	RBDA Eq. 2.32, p. 25.
template<typename FloatType>
af::versa< FloatType, af::mat_grid >	mci (FloatType const &m, vec3< FloatType > const &c, sym_mat3< FloatType > const &i)
	RBDA Eq. 2.63, p. 33.
template<typename FloatType>
FloatType	kinetic_energy (af::const_ref< FloatType, af::mat_grid > const &i_spatial, af::tiny< FloatType, 6 > const &v_spatial)
	RBDA Eq. 2.67, p. 35.

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Detailed Description

See essence/spatial_lib.py.

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Function Documentation

af::versa<FloatType, af::mat_grid> scitbx::rigid_body::spatial_lib::crf

(

af::tiny< FloatType, 6 > const &

v

)

[inline]

RBDA Eq. 2.32, p. 25.

Spatial cross-product operator (force). Calculates the 6x6 matrix such that the expression crf(v)*f is the cross product of the spatial motion vector v with the spatial force vector f.

References crm().

Referenced by scitbx::rigid_body::forward_dynamics_ab(), and scitbx::rigid_body::inverse_dynamics().

af::versa<FloatType, af::mat_grid> scitbx::rigid_body::spatial_lib::crm

(

af::tiny< FloatType, 6 > const &

v

)

[inline]

RBDA Eq. 2.31, p. 25.

Spatial cross-product operator (motion). Calculates the 6x6 matrix such that the expression crm(v)*m is the cross product of the spatial motion vectors v and m.

Referenced by crf(), scitbx::rigid_body::forward_dynamics_ab(), and scitbx::rigid_body::inverse_dynamics().

af::versa<FloatType, af::mat_grid> scitbx::rigid_body::spatial_lib::mci	(	FloatType const &	m,
		vec3< FloatType > const &	c,
		sym_mat3< FloatType > const &	i
	)			[inline]

RBDA Eq. 2.63, p. 33.

Spatial rigid-body inertia from mass, CoM and rotational inertia. Calculates the spatial inertia matrix of a rigid body from its mass, centre of mass (3D vector) and rotational inertia (3x3 matrix) about its centre of mass.

References mat3::self_times_self_transpose().

af::versa<FloatType, af::mat_grid> scitbx::rigid_body::spatial_lib::xrot

(

mat3< FloatType > const &

e

)

[inline]

RBDA Tab. 2.2, p. 23.

Spatial coordinate transform (rotation around origin). Calculates the coordinate transform matrix from A to B coordinates for spatial motion vectors, in which frame B is rotated relative to frame A.

Referenced by cb_as_spatial_transform().

af::versa<FloatType, af::mat_grid> scitbx::rigid_body::spatial_lib::xtrans

(

vec3< FloatType > const &

r

)

[inline]

RBDA Tab. 2.2, p. 23.

Spatial coordinate transform (translation of origin). Calculates the coordinate transform matrix from A to B coordinates for spatial motion vectors, in which frame B is translated by an amount r (3D vector) relative to frame A.

Referenced by cb_as_spatial_transform().