ConstraintModelBase< Derived > Struct Template Reference

Inheritance diagram for ConstraintModelBase< Derived >:

Collaboration diagram for ConstraintModelBase< Derived >:

Public Types
enum	{ Options = traits<Derived>::Options }
typedef Eigen::Matrix< bool, Eigen::Dynamic, 1, Options >	BooleanVector
typedef traits< Derived >::ConstraintData	ConstraintData
typedef std::vector< Eigen::DenseIndex >	IndexVector
typedef traits< Derived >::Scalar	Scalar
Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
template<int Options, template< typename, int > class JointCollectionTpl>
void	calc (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata) const
	Evaluate the constraint values at the current state given by data and store the results in cdata.
template<typename NewScalar >
CastType< NewScalar, Derived >::type	cast () const
ConstraintData	createData () const
Derived &	derived ()
const Derived &	derived () const
template<typename JacobianMatrix , int Options, template< typename, int > class JointCollectionTpl>
void	jacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata, const Eigen::MatrixBase< JacobianMatrix > &jacobian_matrix) const
template<typename OtherDerived >
ConstraintModelBase &	operator= (const ConstraintModelBase< OtherDerived > &other)
template<typename OtherDerived >
bool	operator== (const ConstraintModelBase< OtherDerived > &other) const

Public Attributes
IndexVector	colwise_span_indexes
	Indexes of the columns spanned by the constraints.
BooleanVector	colwise_sparsity
	Sparsity pattern associated to the constraint;.
std::string	name
	Name of the constraint.

Protected Member Functions
	ConstraintModelBase ()
	Default constructor.
template<int Options, template< typename, int > class JointCollectionTpl>
	ConstraintModelBase (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
ConstraintModelBase &	base ()
const ConstraintModelBase &	base () const

Detailed Description

template<class Derived>
struct pinocchio::ConstraintModelBase< Derived >

Definition at line 15 of file constraint-model-base.hpp.

Member Typedef Documentation

BooleanVector

template<class Derived >

typedef Eigen::Matrix<bool, Eigen::Dynamic, 1, Options> BooleanVector

Definition at line 24 of file constraint-model-base.hpp.

ConstraintData

template<class Derived >

typedef traits<Derived>::ConstraintData ConstraintData

Definition at line 22 of file constraint-model-base.hpp.

IndexVector

template<class Derived >

typedef std::vector<Eigen::DenseIndex> IndexVector

Definition at line 26 of file constraint-model-base.hpp.

Scalar

template<class Derived >

typedef traits<Derived>::Scalar Scalar

Definition at line 17 of file constraint-model-base.hpp.

Member Enumeration Documentation

anonymous enum

template<class Derived >

anonymous enum

Definition at line 18 of file constraint-model-base.hpp.

Constructor & Destructor Documentation

ConstraintModelBase() [1/2]

template<class Derived >

template<int Options, template< typename, int > class JointCollectionTpl>

ConstraintModelBase ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model )

inlineprotected

Definition at line 99 of file constraint-model-base.hpp.

ConstraintModelBase() [2/2]

template<class Derived >

ConstraintModelBase ( )

inlineprotected

Default constructor.

Definition at line 107 of file constraint-model-base.hpp.

Member Function Documentation

base() [1/2]

template<class Derived >

ConstraintModelBase & base ( )

inlineprotected

Definition at line 111 of file constraint-model-base.hpp.

base() [2/2]

template<class Derived >

const ConstraintModelBase & base ( ) const

inlineprotected

Definition at line 115 of file constraint-model-base.hpp.

calc()

template<class Derived >

template<int Options, template< typename, int > class JointCollectionTpl>

void calc ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, ConstraintData &  cdata  ) const

inline

Evaluate the constraint values at the current state given by data and store the results in cdata.

Definition at line 46 of file constraint-model-base.hpp.

cast()

template<class Derived >

template<typename NewScalar >

CastType< NewScalar, Derived >::type cast ( ) const

inline

Definition at line 38 of file constraint-model-base.hpp.

createData()

template<class Derived >

ConstraintData createData ( ) const

inline

Definition at line 92 of file constraint-model-base.hpp.

derived() [1/2]

template<class Derived >

Derived & derived ( )

inline

Definition at line 28 of file constraint-model-base.hpp.

derived() [2/2]

template<class Derived >

const Derived & derived ( ) const

inline

Definition at line 32 of file constraint-model-base.hpp.

jacobian()

template<class Derived >

template<typename JacobianMatrix , int Options, template< typename, int > class JointCollectionTpl>

void jacobian ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, const DataTpl< Scalar, Options, JointCollectionTpl > &  data, ConstraintData &  cdata, const Eigen::MatrixBase< JacobianMatrix > &  jacobian_matrix  ) const

inline

Definition at line 55 of file constraint-model-base.hpp.

operator=()

template<class Derived >

template<typename OtherDerived >

ConstraintModelBase & operator= ( const ConstraintModelBase< OtherDerived > &  other )

inline

Definition at line 83 of file constraint-model-base.hpp.

operator==()

template<class Derived >

template<typename OtherDerived >

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

inline

Definition at line 76 of file constraint-model-base.hpp.

Member Data Documentation

colwise_span_indexes

template<class Derived >

IndexVector colwise_span_indexes

Indexes of the columns spanned by the constraints.

Definition at line 73 of file constraint-model-base.hpp.

colwise_sparsity

template<class Derived >

BooleanVector colwise_sparsity

Sparsity pattern associated to the constraint;.

Definition at line 70 of file constraint-model-base.hpp.

name

template<class Derived >

std::string name

Name of the constraint.

Definition at line 67 of file constraint-model-base.hpp.

---

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

• include/pinocchio/algorithm/constraints/constraint-model-base.hpp