Inheritance diagram for JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:

Collaboration diagram for JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:

Public Types
typedef JointModelBase< JointModelCompositeTpl >	Base

typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModelVariant

typedef MotionTpl< Scalar, Options >	Motion

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived	JointDerived

Public Member Functions
	JointModelCompositeTpl ()
	Default contructor.

	JointModelCompositeTpl (const size_t size)
	Default contructor with a defined size.

template<typename JointModel >
	JointModelCompositeTpl (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
	Constructor with one joint. More...

	JointModelCompositeTpl (const JointModelCompositeTpl &other)
	Copy constructor. More...

template<typename JointModel >
JointModelDerived &	addJoint (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
	Add a joint to the vector of joints. More...

template<typename ConfigVectorType >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const

template<typename ConfigVectorType , typename TangentVectorType >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const

template<typename Matrix6Like >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const

template<typename NewScalar >
JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl >	cast () const

JointDataDerived	createData () const

bool	isEqual (const JointModelCompositeTpl &other) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type	jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const

int	nq_impl () const

int	nv_impl () const

JointModelCompositeTpl &	operator= (const JointModelCompositeTpl &other)

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModelVariant) JointModelVector

	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) jointPlacements
	Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent.

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

void	setIndexes_impl (JointIndex id, int q, int v)
	Update the indexes of subjoints in the stack.

std::string	shortname () const

Public Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const

void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const

void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I=false) const

CastType< NewScalar, JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::type	cast () const

JointDataDerived	createData () const

JointModelDerived &	derived ()

const JointModelDerived &	derived () const

void	disp (std::ostream &os) const

JointIndex	id () const

JointIndex	id_impl () const

int	idx_q () const

int	idx_q_impl () const

int	idx_v () const

int	idx_v_impl () const

bool	isEqual (const JointModelBase< OtherDerived > &) const

bool	isEqual (const JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const

SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock (const Eigen::MatrixBase< D > &Mat) const
	Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock (Eigen::MatrixBase< D > &Mat) const

SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const

SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock_impl (Eigen::MatrixBase< D > &Mat) const

SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template ColsReturn< D >::Type	jointCols (Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const

SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const

SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector (Eigen::MatrixBase< D > &a) const

SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const

SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template RowsReturn< D >::Type	jointRows (Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows_impl (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template RowsReturn< D >::Type	jointRows_impl (Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const

SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector (Eigen::MatrixBase< D > &a) const

SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const

int	nq () const

int	nq_impl () const

int	nv () const

int	nv_impl () const

bool	operator!= (const JointModelBase< OtherDerived > &other) const

bool	operator== (const JointModelBase< OtherDerived > &other) const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

void	setIndexes (JointIndex id, int q, int v)

void	setIndexes_impl (JointIndex id, int q, int v)

std::string	shortname () const

Static Public Member Functions
static std::string	classname ()

Static Public Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string	classname ()

Public Attributes
JointModelVector	joints
	Vector of joints contained in the joint composite.

int	njoints
	Number of joints contained in the JointModelComposite.

Protected Member Functions
void	updateJointIndexes ()
	Update the indexes of the joints contained in the composition according to the position of the joint composite.

Protected Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes
std::vector< int >	m_idx_q
	Keep information of both the dimension and the position of the joints in the composition. More...

std::vector< int >	m_idx_v
	Index in the tangent vector.

int	m_nq
	Dimensions of the config and tangent space of the composite joint.

std::vector< int >	m_nqs
	Dimension of the segment in the config vector.

int	m_nv

std::vector< int >	m_nvs
	Dimension of the segment in the tangent vector.

Protected Attributes inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
JointIndex	i_id

int	i_q

int	i_v

Friends
template<typename , int , template< typename, int > class>
struct	JointModelCompositeTpl

template<typename , int , template< typename S, int O > class, typename , typename >
struct	JointCompositeCalcFirstOrderStep

template<typename , int , template< typename S, int O > class, typename >
struct	JointCompositeCalcZeroOrderStep

struct	Serialize< JointModelCompositeTpl >

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
struct pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 85 of file fwd.hpp.

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/2]

JointModelCompositeTpl	(	const JointModelBase< JointModel > &	jmodel,
		const SE3 &	placement = `SE3::Identity()`
	)

inline

Constructor with one joint.

Parameters

jmodel	Model of the first joint.
placement	Placement of the first joint w.r.t. the joint origin.

Definition at line 203 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [2/2]

JointModelCompositeTpl ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > & other )

inline

Copy constructor.

Parameters

other JointModel to copy.

Definition at line 219 of file joint-composite.hpp.

Member Function Documentation

◆ addJoint()

JointModelDerived& addJoint	(	const JointModelBase< JointModel > &	jmodel,
		const SE3 &	placement = `SE3::Identity()`
	)

inline

Add a joint to the vector of joints.

Parameters

jmodel	Model of the joint to add.
placement	Placement of the joint relatively to its predecessor.

Returns: A reference to *this

Definition at line 240 of file joint-composite.hpp.

◆ cast()

JointModelCompositeTpl<NewScalar,Options,JointCollectionTpl> cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 342 of file joint-composite.hpp.

Member Data Documentation

◆ m_idx_q

std::vector<int> m_idx_q

protected

Keep information of both the dimension and the position of the joints in the composition.

Index in the config vector

Definition at line 451 of file joint-composite.hpp.

The documentation for this struct was generated from the following files:

src/multibody/joint/fwd.hpp
src/multibody/joint/joint-composite.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl> struct pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/2]

◆ JointModelCompositeTpl() [2/2]

Member Function Documentation

◆ addJoint()

◆ cast()

Member Data Documentation

◆ m_idx_q

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
struct pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >