raisim::SkewRef
class · #include <raisim/math/Blocks.hpp>
Inherits: raisim::MatExpr< SkewRef< T > >
cpp
template <class T>
class SkewRefProxy returned by skew() on a 3D vector. Assigning it to a 3x3 matrix writes the skew-symmetric (cross-product) matrix [v]x, for which [v]x * a = v x a.
Public types
SelfType
cpp
using SelfType = SkewRef<T>This type.
Constructors & destructor
SkewRef
cpp
explicit SkewRef(T &vec)Parameters
| Parameter | Description |
|---|---|
vec (in) | referenced 3D vector |
Public member functions
operator()
cpp
double operator()(size_t i) constParameters
| Parameter | Description |
|---|---|
i (in) | element index |
Returns element i of the referenced vector.
Public attributes
ref
cpp
T &refReferenced vector.
Inherited members
From raisim::MatExpr: cols, rows, size