Inheritance diagram for MotionTpl< _Scalar, _Options >:

[legend]

Collaboration diagram for MotionTpl< _Scalar, _Options >:

[legend]

Public Types
enum	{ Options = _Options }

typedef MotionDense< MotionTpl >	Base

Public Types inherited from MotionDense< MotionTpl< _Scalar, _Options > >
typedef MotionBase< MotionTpl< _Scalar, _Options > >	Base

typedef traits< MotionTpl< _Scalar, _Options > >::MotionRefType	MotionRefType

Public Member Functions
template<typename V1 , typename V2 >
	MotionTpl (const Eigen::MatrixBase< V1 > &v, const Eigen::MatrixBase< V2 > &w)

template<typename V6 >
	MotionTpl (const Eigen::MatrixBase< V6 > &v)

template<typename M2 , typename std::enable_if<!std::is_convertible< MotionBase< M2 >, MotionTpl >::value, bool >::type = true>
	MotionTpl (const MotionBase< M2 > &clone)

template<typename M2 , typename std::enable_if<!std::is_convertible< MotionDense< M2 >, MotionTpl >::value, bool >::type = true>
	MotionTpl (const MotionDense< M2 > &clone)

	MotionTpl (const MotionTpl &other)

template<typename S2 , int O2>
	MotionTpl (const MotionTpl< S2, O2 > &other)

template<int O2>
	MotionTpl (const MotionTpl< Scalar, O2 > &clone)

template<typename M1 >
Derived &	__mequ__ (const MotionDense< M1 > &v)

template<typename Vector6ArgType >
MotionTpl &	__mequ__ (const MotionRef< Vector6ArgType > &v)

template<int O2>
MotionTpl &	__mequ__ (const MotionTpl< Scalar, O2 > &v)

template<typename M1 >
MotionPlain	__minus__ (const MotionDense< M1 > &v) const

template<typename Vector6ArgType >
MotionPlain	__minus__ (const MotionRef< Vector6ArgType > &v) const

template<int O2>
MotionPlain	__minus__ (const MotionTpl< Scalar, O2 > &v) const

template<typename OtherScalar >
MotionPlain	__mult__ (const OtherScalar &alpha) const

template<typename OtherScalar >
MotionPlain	__mult__ (const OtherScalar &alpha) const

MotionPlain	__opposite__ () const

template<typename M1 >
Derived &	__pequ__ (const MotionDense< M1 > &v)

template<typename Vector6ArgType >
MotionTpl &	__pequ__ (const MotionRef< Vector6ArgType > &v)

template<int O2>
MotionTpl &	__pequ__ (const MotionTpl< Scalar, O2 > &v)

template<typename M1 >
MotionPlain	__plus__ (const MotionDense< M1 > &v) const

template<typename Vector6ArgType >
MotionPlain	__plus__ (const MotionRef< Vector6ArgType > &v) const

template<int O2>
MotionPlain	__plus__ (const MotionTpl< Scalar, O2 > &v) const

AngularType	angular ()

ConstAngularType	angular () const

template<typename V3Like >
void	angular (const Eigen::MatrixBase< V3Like > &w)

AngularType	angular_impl ()

ConstAngularType	angular_impl () const

template<typename V3 >
void	angular_impl (const Eigen::MatrixBase< V3 > &w)

template<typename NewScalar >
MotionTpl< NewScalar, Options >	cast () const

LinearType	linear ()

ConstLinearType	linear () const

template<typename V3Like >
void	linear (const Eigen::MatrixBase< V3Like > &v)

LinearType	linear_impl ()

ConstLinearType	linear_impl () const

template<typename V3 >
void	linear_impl (const Eigen::MatrixBase< V3 > &v)

	MOTION_TYPEDEF_TPL (MotionTpl)

template<typename V6 >
Derived &	operator= (const Eigen::MatrixBase< V6 > &v)

template<typename D2 >
Derived &	operator= (const MotionBase< D2 > &other)

Derived &	operator= (const MotionDense &other)

template<typename D2 >
Derived &	operator= (const MotionDense< D2 > &other)

MotionTpl &	operator= (const MotionTpl &clone)
	Copy assignment operator.

PlainReturnType	plain () const

MotionRef< Vector6 >	ref ()

ToVectorReturnType	toVector_impl ()

ToVectorConstReturnType	toVector_impl () const

Public Member Functions inherited from MotionDense< MotionTpl< _Scalar, _Options > >
MotionPlain	__div__ (const OtherScalar &alpha) const

MotionTpl< _Scalar, _Options > &	__mequ__ (const MotionDense< M1 > &v)

MotionPlain	__minus__ (const MotionDense< M1 > &v) const

MotionPlain	__mult__ (const OtherScalar &alpha) const

MotionPlain	__opposite__ () const

MotionTpl< _Scalar, _Options > &	__pequ__ (const MotionDense< M1 > &v)

MotionPlain	__plus__ (const MotionDense< M1 > &v) const

AngularType	angular ()

ConstAngularType	angular () const

void	angular (const Eigen::MatrixBase< V3Like > &w)

MotionAlgebraAction< D, MotionTpl< _Scalar, _Options > >::ReturnType	cross_impl (const D &d) const

MotionTpl< _Scalar, _Options > &	derived ()

const MotionTpl< _Scalar, _Options > &	derived () const

void	disp_impl (std::ostream &os) const

Scalar	dot (const ForceBase< F1 > &phi) const

bool	isApprox (const MotionDense< M2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isApprox (const MotionTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isApprox_impl (const MotionDense< D2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isEqual_impl (const MotionBase< D2 > &other) const

bool	isEqual_impl (const MotionDense< D2 > &other) const

bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

LinearType	linear ()

ConstLinearType	linear () const

void	linear (const Eigen::MatrixBase< V3Like > &v)

	MOTION_TYPEDEF_TPL (MotionTpl< _Scalar, _Options >)

MotionPlain	motionAction (const MotionDense< M1 > &v) const

void	motionAction (const MotionDense< M1 > &v, MotionDense< M2 > &mout) const

MotionPlain	operator+ (const MotionDense< M1 > &v) const

MotionTpl< _Scalar, _Options > &	operator+= (const MotionBase< M1 > &v)

MotionTpl< _Scalar, _Options > &	operator+= (const MotionDense< M1 > &v)

MotionPlain	operator- () const

MotionPlain	operator- (const MotionDense< M1 > &v) const

MotionTpl< _Scalar, _Options > &	operator-= (const MotionDense< M1 > &v)

MotionTpl< _Scalar, _Options > &	operator= (const Eigen::MatrixBase< V6 > &v)

MotionTpl< _Scalar, _Options > &	operator= (const MotionBase< D2 > &other)

MotionTpl< _Scalar, _Options > &	operator= (const MotionDense &other)

MotionTpl< _Scalar, _Options > &	operator= (const MotionDense< D2 > &other)

MotionRefType	ref ()

SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3Action_impl (const SE3Tpl< S2, O2 > &m) const

void	se3Action_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const

SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const

void	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const

MotionTpl< _Scalar, _Options > &	set (const MotionDense< D2 > &other)

MotionTpl< _Scalar, _Options > &	setRandom ()

MotionTpl< _Scalar, _Options > &	setZero ()

ActionMatrixType	toActionMatrix_impl () const

ActionMatrixType	toDualActionMatrix_impl () const

HomogeneousMatrixType	toHomogeneousMatrix_impl () const

Public Member Functions inherited from MotionBase< Derived >
AngularType	angular ()

ConstAngularType	angular () const

template<typename V3Like >
void	angular (const Eigen::MatrixBase< V3Like > &w)

Derived &	const_cast_derived () const

template<typename OtherSpatialType >
MotionAlgebraAction< OtherSpatialType, Derived >::ReturnType	cross (const OtherSpatialType &d) const

Derived &	derived ()

const Derived &	derived () const

void	disp (std::ostream &os) const

template<typename ForceDerived >
Scalar	dot (const ForceDense< ForceDerived > &f) const

bool	isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

LinearType	linear ()

ConstLinearType	linear () const

template<typename V3Like >
void	linear (const Eigen::MatrixBase< V3Like > &v)

	MOTION_TYPEDEF_TPL (Derived)

	operator Matrix6 () const

	operator PlainReturnType () const

	operator Vector6 () const

template<typename M2 >
bool	operator!= (const MotionBase< M2 > &other) const

template<typename OtherScalar >
internal::RHSScalarMultiplication< Derived, OtherScalar >::ReturnType	operator* (const OtherScalar &alpha) const

Derived	operator+ (const MotionBase< Derived > &v) const

Derived &	operator+= (const MotionBase< Derived > &v)

Derived	operator- () const

Derived	operator- (const MotionBase< Derived > &v) const

Derived &	operator-= (const MotionBase< Derived > &v)

template<typename OtherScalar >
Derived	operator/ (const OtherScalar &alpha) const

template<typename M2 >
bool	operator== (const MotionBase< M2 > &other) const

PlainReturnType	plain () const

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const

template<typename S2 , int O2>
SE3GroupAction< Derived >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const

void	setZero ()

ActionMatrixType	toActionMatrix () const

ActionMatrixType	toDualActionMatrix () const

HomogeneousMatrixType	toHomogeneousMatrix () const
	The homogeneous representation of the motion vector \( \xi \).

ToVectorReturnType	toVector ()

ToVectorConstReturnType	toVector () const

Static Public Member Functions
static MotionTpl	Random ()

static MotionTpl	Zero ()

Protected Attributes
Vector6	m_data

Additional Inherited Members
Protected Member Functions inherited from MotionDense< MotionTpl< _Scalar, _Options > >
	MotionDense (const MotionDense &)=delete

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::MotionTpl< _Scalar, _Options >

Definition at line 40 of file motion-tpl.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef MotionDense<MotionTpl> Base

Definition at line 44 of file motion-tpl.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Definition at line 46 of file motion-tpl.hpp.

Constructor & Destructor Documentation

◆ MotionTpl() [1/8]

template<typename _Scalar , int _Options>

MotionTpl ( )

inline

Definition at line 63 of file motion-tpl.hpp.

◆ MotionTpl() [2/8]

template<typename _Scalar , int _Options>

template<typename V1 , typename V2 >

MotionTpl	(	const Eigen::MatrixBase< V1 > &	v,
		const Eigen::MatrixBase< V2 > &	w
	)

inline

Definition at line 68 of file motion-tpl.hpp.

◆ MotionTpl() [3/8]

template<typename _Scalar , int _Options>

template<typename V6 >

MotionTpl ( const Eigen::MatrixBase< V6 > & v )

inlineexplicit

Definition at line 77 of file motion-tpl.hpp.

◆ MotionTpl() [4/8]

template<typename _Scalar , int _Options>

MotionTpl ( const MotionTpl< _Scalar, _Options > & other )

inline

Definition at line 83 of file motion-tpl.hpp.

◆ MotionTpl() [5/8]

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

MotionTpl ( const MotionTpl< S2, O2 > & other )

inlineexplicit

Definition at line 89 of file motion-tpl.hpp.

◆ MotionTpl() [6/8]

template<typename _Scalar , int _Options>

template<int O2>

MotionTpl ( const MotionTpl< Scalar, O2 > & clone )

inlineexplicit

Definition at line 95 of file motion-tpl.hpp.

◆ MotionTpl() [7/8]

template<typename _Scalar , int _Options>

template<typename M2 , typename std::enable_if<!std::is_convertible< MotionDense< M2 >, MotionTpl >::value, bool >::type = true>

MotionTpl ( const MotionDense< M2 > & clone )

inlineexplicit

Definition at line 105 of file motion-tpl.hpp.

◆ MotionTpl() [8/8]

template<typename _Scalar , int _Options>

template<typename M2 , typename std::enable_if<!std::is_convertible< MotionBase< M2 >, MotionTpl >::value, bool >::type = true>

MotionTpl ( const MotionBase< M2 > & clone )

inlineexplicit

Definition at line 119 of file motion-tpl.hpp.

Member Function Documentation

◆ mequ() [1/3]

template<typename _Scalar , int _Options>

template<typename M1 >

Derived & __mequ__ ( const MotionDense< M1 > & v )

inline

Definition at line 191 of file motion-dense.hpp.

◆ mequ() [2/3]

template<typename _Scalar , int _Options>

template<typename Vector6ArgType >

MotionTpl & __mequ__ ( const MotionRef< Vector6ArgType > & v )

inline

Definition at line 237 of file motion-tpl.hpp.

◆ mequ() [3/3]

template<typename _Scalar , int _Options>

template<int O2>

MotionTpl & __mequ__ ( const MotionTpl< Scalar, O2 > & v )

inline

Definition at line 230 of file motion-tpl.hpp.

◆ minus() [1/3]

template<typename _Scalar , int _Options>

template<typename M1 >

MotionPlain __minus__ ( const MotionDense< M1 > & v ) const

inline

Definition at line 177 of file motion-dense.hpp.

◆ minus() [2/3]

template<typename _Scalar , int _Options>

template<typename Vector6ArgType >

MotionPlain __minus__ ( const MotionRef< Vector6ArgType > & v ) const

inline

Definition at line 210 of file motion-tpl.hpp.

◆ minus() [3/3]

template<typename _Scalar , int _Options>

template<int O2>

MotionPlain __minus__ ( const MotionTpl< Scalar, O2 > & v ) const

inline

Definition at line 204 of file motion-tpl.hpp.

◆ mult() [1/2]

template<typename _Scalar , int _Options>

template<typename OtherScalar >

MotionPlain __mult__ ( const OtherScalar & alpha ) const

inline

Definition at line 199 of file motion-dense.hpp.

◆ mult() [2/2]

template<typename _Scalar , int _Options>

template<typename OtherScalar >

MotionPlain __mult__ ( const OtherScalar & alpha ) const

inline

Definition at line 244 of file motion-tpl.hpp.

◆ opposite()

template<typename _Scalar , int _Options>

MotionPlain __opposite__ ( ) const

inline

Definition at line 165 of file motion-dense.hpp.

◆ pequ() [1/3]

template<typename _Scalar , int _Options>

template<typename M1 >

Derived & __pequ__ ( const MotionDense< M1 > & v )

inline

Definition at line 183 of file motion-dense.hpp.

◆ pequ() [2/3]

template<typename _Scalar , int _Options>

template<typename Vector6ArgType >

MotionTpl & __pequ__ ( const MotionRef< Vector6ArgType > & v )

inline

Definition at line 223 of file motion-tpl.hpp.

◆ pequ() [3/3]

template<typename _Scalar , int _Options>

template<int O2>

MotionTpl & __pequ__ ( const MotionTpl< Scalar, O2 > & v )

inline

Definition at line 216 of file motion-tpl.hpp.

◆ plus() [1/3]

template<typename _Scalar , int _Options>

template<typename M1 >

MotionPlain __plus__ ( const MotionDense< M1 > & v ) const

inline

Definition at line 171 of file motion-dense.hpp.

◆ plus() [2/3]

template<typename _Scalar , int _Options>

template<typename Vector6ArgType >

MotionPlain __plus__ ( const MotionRef< Vector6ArgType > & v ) const

inline

Definition at line 198 of file motion-tpl.hpp.

◆ plus() [3/3]

template<typename _Scalar , int _Options>

template<int O2>

MotionPlain __plus__ ( const MotionTpl< Scalar, O2 > & v ) const

inline

Definition at line 192 of file motion-tpl.hpp.

◆ angular() [1/3]

template<typename _Scalar , int _Options>

AngularType angular ( )

inline

Definition at line 33 of file motion-base.hpp.

◆ angular() [2/3]

template<typename _Scalar , int _Options>

ConstAngularType angular ( ) const

inline

Definition at line 33 of file motion-base.hpp.

◆ angular() [3/3]

template<typename _Scalar , int _Options>

template<typename V3Like >

void angular ( const Eigen::MatrixBase< V3Like > & w )

inline

Definition at line 33 of file motion-base.hpp.

◆ angular_impl() [1/3]

template<typename _Scalar , int _Options>

AngularType angular_impl ( )

inline

Definition at line 168 of file motion-tpl.hpp.

◆ angular_impl() [2/3]

template<typename _Scalar , int _Options>

ConstAngularType angular_impl ( ) const

inline

Definition at line 160 of file motion-tpl.hpp.

◆ angular_impl() [3/3]

template<typename _Scalar , int _Options>

template<typename V3 >

void angular_impl ( const Eigen::MatrixBase< V3 > & w )

inline

Definition at line 178 of file motion-tpl.hpp.

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

MotionTpl< NewScalar, Options > cast ( ) const

inline

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

Definition at line 256 of file motion-tpl.hpp.

◆ linear() [1/3]

template<typename _Scalar , int _Options>

LinearType linear ( )

inline

Definition at line 37 of file motion-base.hpp.

◆ linear() [2/3]

template<typename _Scalar , int _Options>

ConstLinearType linear ( ) const

inline

Definition at line 37 of file motion-base.hpp.

◆ linear() [3/3]

template<typename _Scalar , int _Options>

template<typename V3Like >

void linear ( const Eigen::MatrixBase< V3Like > & v )

inline

Definition at line 37 of file motion-base.hpp.

◆ linear_impl() [1/3]

template<typename _Scalar , int _Options>

LinearType linear_impl ( )

inline

Definition at line 172 of file motion-tpl.hpp.

◆ linear_impl() [2/3]

template<typename _Scalar , int _Options>

ConstLinearType linear_impl ( ) const

inline

Definition at line 164 of file motion-tpl.hpp.

◆ linear_impl() [3/3]

template<typename _Scalar , int _Options>

template<typename V3 >

void linear_impl ( const Eigen::MatrixBase< V3 > & v )

inline

Definition at line 184 of file motion-tpl.hpp.

◆ operator=() [1/5]

template<typename _Scalar , int _Options>

template<typename V6 >

Derived & operator= ( const Eigen::MatrixBase< V6 > & v )

inline

Definition at line 123 of file motion-dense.hpp.

◆ operator=() [2/5]

template<typename _Scalar , int _Options>

template<typename D2 >

Derived & operator= ( const MotionBase< D2 > & other )

inline

Definition at line 116 of file motion-dense.hpp.

◆ operator=() [3/5]

template<typename _Scalar , int _Options>

Derived & operator= ( const MotionDense & other )

inline

Definition at line 102 of file motion-dense.hpp.

◆ operator=() [4/5]

template<typename _Scalar , int _Options>

template<typename D2 >

Derived & operator= ( const MotionDense< D2 > & other )

inline

Definition at line 97 of file motion-dense.hpp.

◆ operator=() [5/5]

template<typename _Scalar , int _Options>

MotionTpl & operator= ( const MotionTpl< _Scalar, _Options > & clone )

inline

Copy assignment operator.

Parameters

[in] other MotionTpl to copy

Definition at line 129 of file motion-tpl.hpp.

◆ plain()

template<typename _Scalar , int _Options>

PlainReturnType plain ( ) const

inline

Definition at line 145 of file motion-tpl.hpp.

◆ Random()

template<typename _Scalar , int _Options>

static MotionTpl Random ( )

inlinestatic

Definition at line 140 of file motion-tpl.hpp.

◆ ref()

template<typename _Scalar , int _Options>

MotionRef< Vector6 > ref ( )

inline

Definition at line 249 of file motion-tpl.hpp.

◆ toVector_impl() [1/2]

template<typename _Scalar , int _Options>

ToVectorReturnType toVector_impl ( )

inline

Definition at line 154 of file motion-tpl.hpp.

◆ toVector_impl() [2/2]

template<typename _Scalar , int _Options>

ToVectorConstReturnType toVector_impl ( ) const

inline

Definition at line 150 of file motion-tpl.hpp.

◆ Zero()

template<typename _Scalar , int _Options>

static MotionTpl Zero ( )

inlinestatic

Definition at line 136 of file motion-tpl.hpp.

Member Data Documentation

◆ m_data

template<typename _Scalar , int _Options>

Vector6 m_data

protected

Definition at line 264 of file motion-tpl.hpp.

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

include/pinocchio/context/casadi.hpp
include/pinocchio/spatial/motion-tpl.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ MotionTpl() [1/8]

◆ MotionTpl() [2/8]

◆ MotionTpl() [3/8]

◆ MotionTpl() [4/8]

◆ MotionTpl() [5/8]

◆ MotionTpl() [6/8]

◆ MotionTpl() [7/8]

◆ MotionTpl() [8/8]

Member Function Documentation

◆ __mequ__() [1/3]

◆ __mequ__() [2/3]

◆ __mequ__() [3/3]

◆ __minus__() [1/3]

◆ __minus__() [2/3]

◆ __minus__() [3/3]

◆ __mult__() [1/2]

◆ __mult__() [2/2]

◆ __opposite__()

◆ __pequ__() [1/3]

◆ __pequ__() [2/3]

◆ __pequ__() [3/3]

◆ __plus__() [1/3]

◆ __plus__() [2/3]

◆ __plus__() [3/3]

◆ angular() [1/3]

◆ angular() [2/3]

◆ angular() [3/3]

◆ angular_impl() [1/3]

◆ angular_impl() [2/3]

◆ angular_impl() [3/3]

◆ cast()

◆ linear() [1/3]

◆ linear() [2/3]

◆ linear() [3/3]

◆ linear_impl() [1/3]

◆ linear_impl() [2/3]

◆ linear_impl() [3/3]

◆ operator=() [1/5]

◆ operator=() [2/5]

◆ operator=() [3/5]

◆ operator=() [4/5]

◆ operator=() [5/5]

◆ plain()

◆ Random()

◆ ref()

◆ toVector_impl() [1/2]

◆ toVector_impl() [2/2]

◆ Zero()

Member Data Documentation

◆ m_data

◆ mequ() [1/3]

◆ mequ() [2/3]

◆ mequ() [3/3]

◆ minus() [1/3]

◆ minus() [2/3]

◆ minus() [3/3]

◆ mult() [1/2]

◆ mult() [2/2]

◆ opposite()

◆ pequ() [1/3]

◆ pequ() [2/3]

◆ pequ() [3/3]

◆ plus() [1/3]

◆ plus() [2/3]

◆ plus() [3/3]