spatial_algebra.h File Reference

Detailed Description

This is the entry point for all operations with spatial vectors.

Spatial vectors represent spatial physical quantities such as spatial velocities, spatial accelerations and spatial forces. Spatial vectors are 6-element quantities that are pairs of ordinary 3-vectors. Elements 0-2 are always the rotational component while elements 3-5 are always the translational component. For a more detailed introduction on spatial vectors please refer to section Spatial Vectors.

#include "drake/multibody/math/spatial_acceleration.h"
#include "drake/multibody/math/spatial_force.h"
#include "drake/multibody/math/spatial_momentum.h"
#include "drake/multibody/math/spatial_velocity.h"

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Macros
#define	DRAKE_SPATIAL_ALGEBRA_HEADER

Macro Definition Documentation

DRAKE_SPATIAL_ALGEBRA_HEADER

#define DRAKE_SPATIAL_ALGEBRA_HEADER