Inheritance diagram for JointModelBase< Derived >:

[legend]

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< bool >	hasConfigurationLimit () const

const std::vector< bool >	hasConfigurationLimitInTangent () 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)

JointModelBase &	operator= (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 >

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

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:

include/pinocchio/multibody/joint/joint-model-base.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ JointDerived

Constructor & Destructor Documentation

◆ JointModelBase() [1/2]

◆ JointModelBase() [2/2]

Member Function Documentation

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ derived() [1/2]

◆ derived() [2/2]

◆ disp()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ hasSameIndexes()

◆ id()

◆ id_impl()

◆ idx_q()

◆ idx_q_impl()

◆ idx_v()

◆ idx_v_impl()

◆ idx_vExtended()

◆ idx_vExtended_impl()

◆ isEqual() [1/2]

◆ isEqual() [2/2]

◆ jointBlock() [1/2]

◆ jointBlock() [2/2]

◆ jointBlock_impl() [1/2]

◆ jointBlock_impl() [2/2]

◆ jointCols() [1/2]

◆ jointCols() [2/2]

◆ jointCols_impl() [1/2]

◆ jointCols_impl() [2/2]

◆ jointConfigSelector() [1/2]

◆ jointConfigSelector() [2/2]

◆ jointConfigSelector_impl() [1/2]

◆ jointConfigSelector_impl() [2/2]

◆ jointExtendedModelBlock() [1/2]

◆ jointExtendedModelBlock() [2/2]

◆ jointExtendedModelBlock_impl() [1/2]

◆ jointExtendedModelBlock_impl() [2/2]

◆ jointExtendedModelCols() [1/2]

◆ jointExtendedModelCols() [2/2]

◆ jointExtendedModelCols_impl() [1/2]

◆ jointExtendedModelCols_impl() [2/2]

◆ jointExtendedModelRows() [1/2]

◆ jointExtendedModelRows() [2/2]

◆ jointExtendedModelRows_impl() [1/2]

◆ jointExtendedModelRows_impl() [2/2]

◆ JointMappedConfigSelector() [1/2]

◆ JointMappedConfigSelector() [2/2]

◆ JointMappedConfigSelector_impl() [1/2]

◆ JointMappedConfigSelector_impl() [2/2]

◆ JointMappedVelocitySelector() [1/2]

◆ JointMappedVelocitySelector() [2/2]

◆ JointMappedVelocitySelector_impl() [1/2]

◆ JointMappedVelocitySelector_impl() [2/2]

◆ jointRows() [1/2]

◆ jointRows() [2/2]

◆ jointRows_impl() [1/2]

◆ jointRows_impl() [2/2]

◆ jointVelocitySelector() [1/2]

◆ jointVelocitySelector() [2/2]

◆ jointVelocitySelector_impl() [1/2]

◆ jointVelocitySelector_impl() [2/2]

◆ nq()

◆ nq_impl()

◆ nv()

◆ nv_impl()