pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference
Joint
Inheritance diagram for JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl >:
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Collaboration diagram for JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl >:
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Public Types

typedef JointDataBase< JointDataCompositeTpl > Base
 
typedef JointDataTpl< Scalar, Options, JointCollectionTpl > JointDataVariant
 
typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
 
- Public Types inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived JointDerived
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

 JointDataCompositeTpl (const JointDataVector &joint_data, const int nq, const int nv)
 
void disp (std::ostream &os) const
 
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointDataVariant) JointDataVector
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) iMlast
 Transforms from previous joint to last joint.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) pjMi
 Transforms from previous joint to joint i.
 
 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE (JointDerived)
 
std::string shortname () const
 
- Public Member Functions inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
BiasTypeRef c ()
 
BiasTypeConstRef c () const
 
JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > & derived ()
 
const JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > & derived () const
 
DTypeRef Dinv ()
 
DTypeConstRef Dinv () const
 
void disp (std::ostream &os) const
 
bool isEqual (const JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
  
 
bool isEqual (const JointDataBase< OtherDerived > &) const
  
 
bool isNotEqual (const JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
  
 
ConfigVectorTypeRef joint_q ()
 
ConfigVectorTypeConstRef joint_q () const
 
TangentVectorTypeRef joint_v ()
 
TangentVectorTypeConstRef joint_v () const
 
TansformTypeRef M ()
 
TansformTypeConstRef M () const
 
bool operator!= (const JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
 
bool operator== (const JointDataBase< OtherDerived > &other) const
 
 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE (JointDerived)
 
ConstraintTypeRef S ()
 
ConstraintTypeConstRef S () const
 
std::string shortname () const
 
DTypeRef StU ()
 
DTypeConstRef StU () const
 
UTypeRef U ()
 
UTypeConstRef U () const
 
UDTypeRef UDinv ()
 
UDTypeConstRef UDinv () const
 
MotionTypeRef v ()
 
MotionTypeConstRef v () const
 

Static Public Member Functions

static std::string classname ()
 
- Static Public Member Functions inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string classname ()
 

Public Attributes

Bias_t c
 
D_t Dinv
 
ConfigVector_t joint_q
 
TangentVector_t joint_v
 
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl< Scalar, Options > JointCollection
 
JointDataVector joints
 Vector of joints.
 
Transformation_t M
 
Constraint_t S
 
D_t StU
 
U_t U
 
UD_t UDinv
 
Motion_t v
 

Additional Inherited Members

- Protected Member Functions inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
 JointDataBase ()
 Default constructor: protected.
 

Detailed Description

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

Definition at line 71 of file joint-composite.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointDataBase<JointDataCompositeTpl> Base

Definition at line 76 of file joint-composite.hpp.

◆ JointDataVariant

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointDataVariant

Definition at line 82 of file joint-composite.hpp.

◆ JointDerived

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointCompositeTpl<_Scalar, _Options, JointCollectionTpl> JointDerived

Definition at line 77 of file joint-composite.hpp.

Constructor & Destructor Documentation

◆ JointDataCompositeTpl() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataCompositeTpl ( )
inline

Definition at line 88 of file joint-composite.hpp.

◆ JointDataCompositeTpl() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataCompositeTpl ( const JointDataVector &  joint_data,
const int  nq,
const int  nv 
)
inline

Definition at line 105 of file joint-composite.hpp.

Member Function Documentation

◆ classname()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
static std::string classname ( )
inlinestatic

Definition at line 145 of file joint-composite.hpp.

◆ disp()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
void disp ( std::ostream &  os) const
inline

Definition at line 154 of file joint-composite.hpp.

◆ shortname()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
std::string shortname ( ) const
inline

Definition at line 149 of file joint-composite.hpp.

Member Data Documentation

◆ c

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
Bias_t c

Definition at line 137 of file joint-composite.hpp.

◆ Dinv

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
D_t Dinv

Definition at line 141 of file joint-composite.hpp.

◆ joint_q

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
ConfigVector_t joint_q

Definition at line 131 of file joint-composite.hpp.

◆ joint_v

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
TangentVector_t joint_v

Definition at line 132 of file joint-composite.hpp.

◆ JointCollection

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl<Scalar, Options> JointCollection

Definition at line 81 of file joint-composite.hpp.

◆ joints

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataVector joints

Vector of joints.

Definition at line 123 of file joint-composite.hpp.

◆ M

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
Transformation_t M

Definition at line 135 of file joint-composite.hpp.

◆ S

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
Constraint_t S

Definition at line 134 of file joint-composite.hpp.

◆ StU

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
D_t StU

Definition at line 143 of file joint-composite.hpp.

◆ U

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
U_t U

Definition at line 140 of file joint-composite.hpp.

◆ UDinv

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
UD_t UDinv

Definition at line 142 of file joint-composite.hpp.

◆ v

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
Motion_t v

Definition at line 136 of file joint-composite.hpp.

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