83 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
85 JointModelDerived & derived()
87 return *
static_cast<Derived *
>(
this);
89 const JointModelDerived & derived()
const
91 return *
static_cast<const Derived *
>(
this);
94 JointDataDerived createData()
const
96 return derived().createData();
99 const std::vector<bool> hasConfigurationLimit()
const
101 return derived().hasConfigurationLimit();
104 const std::vector<bool> hasConfigurationLimitInTangent()
const
106 return derived().hasConfigurationLimitInTangent();
109 template<
typename ConfigVectorType>
110 void calc(JointDataDerived & data,
const Eigen::MatrixBase<ConfigVectorType> &
qs)
const
112 derived().calc(data,
qs.derived());
115 template<
typename TangentVectorType>
117 JointDataDerived & data,
119 const Eigen::MatrixBase<TangentVectorType> &
vs)
const
124 template<
typename ConfigVectorType,
typename TangentVectorType>
126 JointDataDerived & data,
127 const Eigen::MatrixBase<ConfigVectorType> &
qs,
128 const Eigen::MatrixBase<TangentVectorType> &
vs)
const
130 derived().calc(data,
qs.derived(),
vs.derived());
133 template<
typename VectorLike,
typename Matrix6Like>
135 JointDataDerived & data,
136 const Eigen::MatrixBase<VectorLike> & armature,
137 const Eigen::MatrixBase<Matrix6Like> &
I,
146 return derived().nv_impl();
150 return derived().nq_impl();
152 int nvExtended()
const
154 return derived().nvExtended_impl();
166 int nvExtended_impl()
const
173 return derived().idx_q_impl();
177 return derived().idx_v_impl();
179 int idx_vExtended()
const
181 return derived().idx_vExtended_impl();
183 JointIndex id()
const
185 return derived().id_impl();
188 int idx_q_impl()
const
192 int idx_v_impl()
const
196 int idx_vExtended_impl()
const
200 JointIndex id_impl()
const
205 void setIndexes(JointIndex
id,
int q,
int v)
207 derived().setIndexes_impl(
id, q, v, v);
210 void setIndexes(JointIndex
id,
int q,
int v,
int vExtended)
212 derived().setIndexes_impl(
id, q, v,
vExtended);
215 void setIndexes_impl(JointIndex
id,
int q,
int v,
int vExtended)
222 void disp(std::ostream &
os)
const
225 os << shortname() << endl
226 <<
" index: " <<
id() << endl
227 <<
" index q: " << idx_q() << endl
228 <<
" index v: " << idx_v() << endl
229 <<
" index vExtended: " << idx_vExtended() << endl
230 <<
" nq: " << nq() << endl
231 <<
" nv: " << nv() << endl
232 <<
" nvExtended: " << nvExtended() << endl;
237 jmodel.derived().disp(
os);
241 std::string shortname()
const
243 return derived().shortname();
245 static std::string classname()
247 return Derived::classname();
250 template<
typename NewScalar>
256 template<
class OtherDerived>
259 return derived().isEqual(
other.derived());
262 template<
class OtherDerived>
265 return !(internal::comparison_eq(derived(),
other.derived()));
268 template<
class OtherDerived>
276 return derived().hasSameIndexes(
other.derived());
279 template<
class OtherDerived>
282 return internal::comparison_eq(
other.id(),
id())
283 && internal::comparison_eq(
other.idx_q(), idx_q())
284 && internal::comparison_eq(
other.idx_v(), idx_v())
285 && internal::comparison_eq(
other.idx_vExtended(), idx_vExtended());
292 JointMappedConfigSelector(
const Eigen::MatrixBase<D> &
a)
const
294 return derived().JointMappedConfigSelector_impl(
a);
299 JointMappedConfigSelector_impl(
const Eigen::MatrixBase<D> &
a)
const
307 JointMappedConfigSelector(Eigen::MatrixBase<D> &
a)
const
309 return derived().JointMappedConfigSelector_impl(
a);
314 JointMappedConfigSelector_impl(Eigen::MatrixBase<D> &
a)
const
322 jointConfigSelector(
const Eigen::MatrixBase<D> &
a)
const
324 return derived().jointConfigSelector_impl(
a);
329 jointConfigSelector_impl(
const Eigen::MatrixBase<D> &
a)
const
337 jointConfigSelector(Eigen::MatrixBase<D> &
a)
const
339 return derived().jointConfigSelector_impl(
a);
344 jointConfigSelector_impl(Eigen::MatrixBase<D> &
a)
const
353 JointMappedVelocitySelector(
const Eigen::MatrixBase<D> &
a)
const
355 return derived().JointMappedVelocitySelector_impl(
a.derived());
360 JointMappedVelocitySelector_impl(
const Eigen::MatrixBase<D> &
a)
const
368 JointMappedVelocitySelector(Eigen::MatrixBase<D> &
a)
const
370 return derived().JointMappedVelocitySelector_impl(
a.derived());
375 JointMappedVelocitySelector_impl(Eigen::MatrixBase<D> &
a)
const
383 jointVelocitySelector(
const Eigen::MatrixBase<D> &
a)
const
385 return derived().jointVelocitySelector_impl(
a.derived());
390 jointVelocitySelector_impl(
const Eigen::MatrixBase<D> &
a)
const
398 jointVelocitySelector(Eigen::MatrixBase<D> &
a)
const
400 return derived().jointVelocitySelector_impl(
a.derived());
405 jointVelocitySelector_impl(Eigen::MatrixBase<D> &
a)
const
414 jointCols(
const Eigen::MatrixBase<D> & A)
const
416 return derived().jointCols_impl(A.derived());
421 jointExtendedModelCols(
const Eigen::MatrixBase<D> & A)
const
423 return derived().jointExtendedModelCols_impl(A.derived());
428 jointCols_impl(
const Eigen::MatrixBase<D> & A)
const
435 jointExtendedModelCols_impl(
const Eigen::MatrixBase<D> & A)
const
445 return derived().jointCols_impl(A.derived());
450 jointExtendedModelCols(Eigen::MatrixBase<D> & A)
const
452 return derived().jointExtendedModelCols_impl(A.derived());
457 jointCols_impl(Eigen::MatrixBase<D> & A)
const
464 jointExtendedModelCols_impl(Eigen::MatrixBase<D> & A)
const
473 jointRows(
const Eigen::MatrixBase<D> & A)
const
475 return derived().jointRows_impl(A.derived());
480 jointExtendedModelRows(
const Eigen::MatrixBase<D> & A)
const
482 return derived().jointExtendedModelRows_impl(A.derived());
487 jointRows_impl(
const Eigen::MatrixBase<D> & A)
const
494 jointExtendedModelRows_impl(
const Eigen::MatrixBase<D> & A)
const
503 return derived().jointRows_impl(A.derived());
508 jointExtendedModelRows(Eigen::MatrixBase<D> & A)
const
510 return derived().jointExtendedModelRows_impl(A.derived());
515 jointRows_impl(Eigen::MatrixBase<D> & A)
const
522 jointExtendedModelRows_impl(Eigen::MatrixBase<D> & A)
const
534 return derived().jointBlock_impl(
Mat.derived());
539 jointExtendedModelBlock(
const Eigen::MatrixBase<D> &
Mat)
const
541 return derived().jointExtendedModelBlock_impl(
Mat.derived());
545 typename SizeDepType<NV>::template BlockReturn<D>::ConstType
546 jointBlock_impl(
const Eigen::MatrixBase<D> & Mat)
const
548 return SizeDepType<NV>::block(Mat.derived(), idx_v(), idx_v(), nv(), nv());
552 typename SizeDepType<NVExtended>::template BlockReturn<D>::ConstType
553 jointExtendedModelBlock_impl(
const Eigen::MatrixBase<D> & Mat)
const
555 return SizeDepType<NVExtended>::block(
556 Mat.derived(), idx_vExtended(), idx_vExtended(), nvExtended(), nvExtended());
561 typename SizeDepType<NV>::template BlockReturn<D>::Type
564 return derived().jointBlock_impl(Mat.derived());
568 typename SizeDepType<NVExtended>::template BlockReturn<D>::Type
569 jointExtendedModelBlock(Eigen::MatrixBase<D> & Mat)
const
571 return derived().jointExtendedModelBlock_impl(Mat.derived());
575 typename SizeDepType<NV>::template BlockReturn<D>::Type
576 jointBlock_impl(Eigen::MatrixBase<D> & Mat)
const
578 return SizeDepType<NV>::block(Mat.derived(), idx_v(), idx_v(), nv(), nv());
582 typename SizeDepType<NVExtended>::template BlockReturn<D>::Type
583 jointExtendedModelBlock_impl(Eigen::MatrixBase<D> & Mat)
const
585 return SizeDepType<NVExtended>::block(
586 Mat.derived(), idx_vExtended(), idx_vExtended(), nvExtended(), nvExtended());
619 i_vExtended = clone.i_vExtended;