hpp::constraints::PointInJoint Class Reference

Basic expression representing a point in a joint frame. More...

#include <hpp/constraints/symbolic-calculus.hh>

Inheritance diagram for hpp::constraints::PointInJoint:

Collaboration diagram for hpp::constraints::PointInJoint:

Public Types
typedef CalculusBase< PointInJoint >	Parent_t
Public Types inherited from hpp::constraints::CalculusBaseAbstract< vector3_t, JacobianMatrix >
typedef vector3_t	ValueType_t
typedef JacobianMatrix	JacobianType_t

Public Member Functions
	PointInJoint ()
	PointInJoint (const CalculusBase< PointInJoint > &other)
	PointInJoint (const PointInJoint &pointInJoint)
	PointInJoint (const JointPtr_t &joint, const vector3_t &pointInLocalFrame)
	PointInJoint (const JointPtr_t &joint, const vector3_t &pointInLocalFrame, size_type nbDof)
const JointPtr_t &	joint () const
const vector3_t &	local () const
void	impl_value (const ConfigurationIn_t)
void	impl_jacobian (const ConfigurationIn_t)
void	computeCrossRXl ()
Public Member Functions inherited from hpp::constraints::CalculusBase< PointInJoint >
	CalculusBase ()
	CalculusBase (const vector3_t &value, const JacobianMatrix &jacobian)
	CalculusBase (const CalculusBase &o)
const vector3_t &	value () const
const JacobianMatrix &	jacobian () const
void	computeValue (const ConfigurationIn_t arg)
void	computeJacobian (const ConfigurationIn_t arg)
void	invalidate ()
const CrossMatrix &	cross () const
void	computeCrossValue (const ConfigurationIn_t arg)

Protected Attributes
JointPtr_t	joint_
vector3_t	local_
bool	center_
Protected Attributes inherited from hpp::constraints::CalculusBase< PointInJoint >
vector3_t	value_
JacobianMatrix	jacobian_
CrossMatrix	cross_
bool	vValid_
bool	jValid_
bool	cValid_

Additional Inherited Members
Protected Member Functions inherited from hpp::constraints::CalculusBase< PointInJoint >
void	init (const typename Traits< PointInJoint >::Ptr_t &ptr)

Detailed Description

Basic expression representing a point in a joint frame.

Member Typedef Documentation

Parent_t

typedef CalculusBase<PointInJoint> hpp::constraints::PointInJoint::Parent_t

Constructor & Destructor Documentation

PointInJoint() [1/5]

hpp::constraints::PointInJoint::PointInJoint ( )

inline

PointInJoint() [2/5]

hpp::constraints::PointInJoint::PointInJoint ( const CalculusBase< PointInJoint > &  other )

inline

References joint(), and local().

PointInJoint() [3/5]

hpp::constraints::PointInJoint::PointInJoint ( const PointInJoint &  pointInJoint )

inline

PointInJoint() [4/5]

hpp::constraints::PointInJoint::PointInJoint ( const JointPtr_t &  joint, const vector3_t &  pointInLocalFrame  )

inline

References Eigen::assert().

PointInJoint() [5/5]

hpp::constraints::PointInJoint::PointInJoint ( const JointPtr_t &  joint, const vector3_t &  pointInLocalFrame, size_type  nbDof  )

inline

Member Function Documentation

computeCrossRXl()

void hpp::constraints::PointInJoint::computeCrossRXl ( )

inline

References hpp::constraints::computeCrossMatrix().

impl_jacobian()

void hpp::constraints::PointInJoint::impl_jacobian ( const ConfigurationIn_t  )

inline

impl_value()

void hpp::constraints::PointInJoint::impl_value ( const ConfigurationIn_t  )

inline

joint()

const JointPtr_t& hpp::constraints::PointInJoint::joint ( ) const

inline

Referenced by PointInJoint().

local()

const vector3_t& hpp::constraints::PointInJoint::local ( ) const

inline

Referenced by PointInJoint().

Member Data Documentation

center_

bool hpp::constraints::PointInJoint::center_

protected

joint_

JointPtr_t hpp::constraints::PointInJoint::joint_

protected

local_

vector3_t hpp::constraints::PointInJoint::local_

protected