pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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JointModelBase< Derived > Struct Template Reference
Inheritance diagram for JointModelBase< Derived >:
Collaboration diagram for JointModelBase< Derived >:

Public Types

typedef traits< Derived >::JointDerived JointDerived
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

template<typename TangentVectorType >
void calc (JointDataDerived &data, const Blank not_used, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
template<typename ConfigVectorType >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
 
template<typename ConfigVectorType , typename TangentVectorType >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
template<typename VectorLike , typename Matrix6Like >
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I=false) const
 
template<typename NewScalar >
CastType< NewScalar, Derived >::type cast () const
 
JointDataDerived createData () const
 
JointModelDerived & derived ()
 
const JointModelDerived & derived () const
 
void disp (std::ostream &os) const
 
const std::vector< boolhasConfigurationLimit () const
 
const std::vector< boolhasConfigurationLimitInTangent () const
 
template<class OtherDerived >
bool hasSameIndexes (const JointModelBase< OtherDerived > &other) const
 
JointIndex id () const
 
JointIndex id_impl () const
 
int idx_q () const
 
int idx_q_impl () const
 
int idx_v () const
 
int idx_v_impl () const
 
int idx_vExtended () const
 
int idx_vExtended_impl () const
 
bool isEqual (const JointModelBase< Derived > &other) const
 
template<class OtherDerived >
bool isEqual (const JointModelBase< OtherDerived > &) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock (const Eigen::MatrixBase< D > &Mat) const
 Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock_impl (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock (const Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock_impl (const Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock_impl (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
 
int nq () const
 
int nq_impl () const
 
int nv () const
 
int nv_impl () const
 
int nvExtended () const
 
int nvExtended_impl () const
 
template<class OtherDerived >
bool operator!= (const JointModelBase< OtherDerived > &other) const
 
template<class OtherDerived >
bool operator== (const JointModelBase< OtherDerived > &other) const
 
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
 
void setIndexes (JointIndex id, int q, int v)
 
void setIndexes (JointIndex id, int q, int v, int vExtended)
 
void setIndexes_impl (JointIndex id, int q, int v, int vExtended)
 
std::string shortname () const
 

Static Public Member Functions

static std::string classname ()
 

Protected Member Functions

 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBaseoperator= (const JointModelBase &clone)
 

Protected Attributes

JointIndex i_id
 
int i_q
 
int i_v
 
int i_vExtended
 

Friends

std::ostream & operator<< (std::ostream &os, const JointModelBase< Derived > &jmodel)
 

Detailed Description

template<typename Derived>
struct pinocchio::JointModelBase< Derived >

Definition at line 78 of file joint-model-base.hpp.

Member Typedef Documentation

◆ JointDerived

template<typename Derived >
typedef traits<Derived>::JointDerived JointDerived

Definition at line 82 of file joint-model-base.hpp.

Constructor & Destructor Documentation

◆ JointModelBase() [1/2]

template<typename Derived >
JointModelBase ( )
inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 593 of file joint-model-base.hpp.

◆ JointModelBase() [2/2]

template<typename Derived >
JointModelBase ( const JointModelBase< Derived > &  clone)
inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 605 of file joint-model-base.hpp.

Member Function Documentation

◆ calc() [1/3]

template<typename Derived >
template<typename TangentVectorType >
void calc ( JointDataDerived &  data,
const Blank  not_used,
const Eigen::MatrixBase< TangentVectorType > &  vs 
) const
inline

Definition at line 116 of file joint-model-base.hpp.

◆ calc() [2/3]

template<typename Derived >
template<typename ConfigVectorType >
void calc ( JointDataDerived &  data,
const Eigen::MatrixBase< ConfigVectorType > &  qs 
) const
inline

Definition at line 110 of file joint-model-base.hpp.

◆ calc() [3/3]

template<typename Derived >
template<typename ConfigVectorType , typename TangentVectorType >
void calc ( JointDataDerived &  data,
const Eigen::MatrixBase< ConfigVectorType > &  qs,
const Eigen::MatrixBase< TangentVectorType > &  vs 
) const
inline

Definition at line 125 of file joint-model-base.hpp.

◆ calc_aba()

template<typename Derived >
void calc_aba ( JointDataDerived &  data,
const Eigen::MatrixBase< VectorLike > &  armature,
const Eigen::MatrixBase< Matrix6Like > &  I,
const bool  update_I = false 
) const
inline

Definition at line 134 of file joint-model-base.hpp.

◆ cast()

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

Definition at line 251 of file joint-model-base.hpp.

◆ classname()

template<typename Derived >
static std::string classname ( )
inlinestatic

Definition at line 245 of file joint-model-base.hpp.

◆ createData()

template<typename Derived >
JointDataDerived createData ( ) const
inline

Definition at line 94 of file joint-model-base.hpp.

◆ derived() [1/2]

template<typename Derived >
JointModelDerived & derived ( )
inline

Definition at line 85 of file joint-model-base.hpp.

◆ derived() [2/2]

template<typename Derived >
const JointModelDerived & derived ( ) const
inline

Definition at line 89 of file joint-model-base.hpp.

◆ disp()

template<typename Derived >
void disp ( std::ostream &  os) const
inline

Definition at line 222 of file joint-model-base.hpp.

◆ hasConfigurationLimit()

template<typename Derived >
const std::vector< bool > hasConfigurationLimit ( ) const
inline

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

◆ hasConfigurationLimitInTangent()

template<typename Derived >
const std::vector< bool > hasConfigurationLimitInTangent ( ) const
inline

Definition at line 104 of file joint-model-base.hpp.

◆ hasSameIndexes()

template<typename Derived >
template<class OtherDerived >
bool hasSameIndexes ( const JointModelBase< OtherDerived > &  other) const
inline

Definition at line 280 of file joint-model-base.hpp.

◆ id()

template<typename Derived >
JointIndex id ( ) const
inline

Definition at line 183 of file joint-model-base.hpp.

◆ id_impl()

template<typename Derived >
JointIndex id_impl ( ) const
inline

Definition at line 200 of file joint-model-base.hpp.

◆ idx_q()

template<typename Derived >
int idx_q ( ) const
inline

Definition at line 171 of file joint-model-base.hpp.

◆ idx_q_impl()

template<typename Derived >
int idx_q_impl ( ) const
inline

Definition at line 188 of file joint-model-base.hpp.

◆ idx_v()

template<typename Derived >
int idx_v ( ) const
inline

Definition at line 175 of file joint-model-base.hpp.

◆ idx_v_impl()

template<typename Derived >
int idx_v_impl ( ) const
inline

Definition at line 192 of file joint-model-base.hpp.

◆ idx_vExtended()

template<typename Derived >
int idx_vExtended ( ) const
inline

Definition at line 179 of file joint-model-base.hpp.

◆ idx_vExtended_impl()

template<typename Derived >
int idx_vExtended_impl ( ) const
inline

Definition at line 196 of file joint-model-base.hpp.

◆ isEqual() [1/2]

template<typename Derived >
bool isEqual ( const JointModelBase< Derived > &  other) const
inline

Definition at line 274 of file joint-model-base.hpp.

◆ isEqual() [2/2]

template<typename Derived >
template<class OtherDerived >
bool isEqual ( const JointModelBase< OtherDerived > &  ) const
inline

Definition at line 269 of file joint-model-base.hpp.

◆ jointBlock() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock ( const Eigen::MatrixBase< D > &  Mat) const
inline

Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

Definition at line 532 of file joint-model-base.hpp.

◆ jointBlock() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock ( Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 562 of file joint-model-base.hpp.

◆ jointBlock_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl ( const Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 546 of file joint-model-base.hpp.

◆ jointBlock_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock_impl ( Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 576 of file joint-model-base.hpp.

◆ jointCols() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 414 of file joint-model-base.hpp.

◆ jointCols() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 443 of file joint-model-base.hpp.

◆ jointCols_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 428 of file joint-model-base.hpp.

◆ jointCols_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 457 of file joint-model-base.hpp.

◆ jointConfigSelector() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 322 of file joint-model-base.hpp.

◆ jointConfigSelector() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 337 of file joint-model-base.hpp.

◆ jointConfigSelector_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 329 of file joint-model-base.hpp.

◆ jointConfigSelector_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 344 of file joint-model-base.hpp.

◆ jointExtendedModelBlock() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock ( const Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 539 of file joint-model-base.hpp.

◆ jointExtendedModelBlock() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock ( Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 569 of file joint-model-base.hpp.

◆ jointExtendedModelBlock_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock_impl ( const Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 553 of file joint-model-base.hpp.

◆ jointExtendedModelBlock_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock_impl ( Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 583 of file joint-model-base.hpp.

◆ jointExtendedModelCols() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 421 of file joint-model-base.hpp.

◆ jointExtendedModelCols() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 450 of file joint-model-base.hpp.

◆ jointExtendedModelCols_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 435 of file joint-model-base.hpp.

◆ jointExtendedModelCols_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 464 of file joint-model-base.hpp.

◆ jointExtendedModelRows() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 480 of file joint-model-base.hpp.

◆ jointExtendedModelRows() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 508 of file joint-model-base.hpp.

◆ jointExtendedModelRows_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 494 of file joint-model-base.hpp.

◆ jointExtendedModelRows_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 522 of file joint-model-base.hpp.

◆ JointMappedConfigSelector() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 292 of file joint-model-base.hpp.

◆ JointMappedConfigSelector() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 307 of file joint-model-base.hpp.

◆ JointMappedConfigSelector_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 299 of file joint-model-base.hpp.

◆ JointMappedConfigSelector_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 314 of file joint-model-base.hpp.

◆ JointMappedVelocitySelector() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 353 of file joint-model-base.hpp.

◆ JointMappedVelocitySelector() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 368 of file joint-model-base.hpp.

◆ JointMappedVelocitySelector_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 360 of file joint-model-base.hpp.

◆ JointMappedVelocitySelector_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 375 of file joint-model-base.hpp.

◆ jointRows() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 473 of file joint-model-base.hpp.

◆ jointRows() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 501 of file joint-model-base.hpp.

◆ jointRows_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 487 of file joint-model-base.hpp.

◆ jointRows_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 515 of file joint-model-base.hpp.

◆ jointVelocitySelector() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 383 of file joint-model-base.hpp.

◆ jointVelocitySelector() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 398 of file joint-model-base.hpp.

◆ jointVelocitySelector_impl() [1/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 390 of file joint-model-base.hpp.

◆ jointVelocitySelector_impl() [2/2]

template<typename Derived >
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 405 of file joint-model-base.hpp.

◆ nq()

template<typename Derived >
int nq ( ) const
inline

Definition at line 148 of file joint-model-base.hpp.

◆ nq_impl()

template<typename Derived >
int nq_impl ( ) const
inline

Definition at line 162 of file joint-model-base.hpp.

◆ nv()

template<typename Derived >
int nv ( ) const
inline

Definition at line 144 of file joint-model-base.hpp.

◆ nv_impl()

template<typename Derived >
int nv_impl ( ) const
inline

Definition at line 158 of file joint-model-base.hpp.

◆ nvExtended()

template<typename Derived >
int nvExtended ( ) const
inline

Definition at line 152 of file joint-model-base.hpp.

◆ nvExtended_impl()

template<typename Derived >
int nvExtended_impl ( ) const
inline

Definition at line 166 of file joint-model-base.hpp.

◆ operator!=()

template<typename Derived >
template<class OtherDerived >
bool operator!= ( const JointModelBase< OtherDerived > &  other) const
inline

Definition at line 263 of file joint-model-base.hpp.

◆ operator=()

template<typename Derived >
JointModelBase & operator= ( const JointModelBase< Derived > &  clone)
inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 614 of file joint-model-base.hpp.

◆ operator==()

template<typename Derived >
template<class OtherDerived >
bool operator== ( const JointModelBase< OtherDerived > &  other) const
inline

Definition at line 257 of file joint-model-base.hpp.

◆ setIndexes() [1/2]

template<typename Derived >
void setIndexes ( JointIndex  id,
int  q,
int  v 
)
inline

Definition at line 205 of file joint-model-base.hpp.

◆ setIndexes() [2/2]

template<typename Derived >
void setIndexes ( JointIndex  id,
int  q,
int  v,
int  vExtended 
)
inline

Definition at line 210 of file joint-model-base.hpp.

◆ setIndexes_impl()

template<typename Derived >
void setIndexes_impl ( JointIndex  id,
int  q,
int  v,
int  vExtended 
)
inline

Definition at line 215 of file joint-model-base.hpp.

◆ shortname()

template<typename Derived >
std::string shortname ( ) const
inline

Definition at line 241 of file joint-model-base.hpp.

Friends And Related Symbol Documentation

◆ operator<<

template<typename Derived >
std::ostream & operator<< ( std::ostream &  os,
const JointModelBase< Derived > &  jmodel 
)
friend

Definition at line 235 of file joint-model-base.hpp.

Member Data Documentation

◆ i_id

template<typename Derived >
JointIndex i_id
protected

Definition at line 624 of file joint-model-base.hpp.

◆ i_q

template<typename Derived >
int i_q
protected

Definition at line 625 of file joint-model-base.hpp.

◆ i_v

template<typename Derived >
int i_v
protected

Definition at line 626 of file joint-model-base.hpp.

◆ i_vExtended

template<typename Derived >
int i_vExtended
protected

Definition at line 627 of file joint-model-base.hpp.


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