pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference
Inheritance diagram for JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:
Collaboration diagram for JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:

Public Types

typedef JointModelBase< JointModelCompositeTplBase
 
typedef InertiaTpl< Scalar, Options > Inertia
 
typedef JointCollectionTpl< Scalar, Options > JointCollection
 
typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
 
typedef JointModelTpl< Scalar, Options, JointCollectionTpl > JointModelVariant
 
typedef MotionTpl< Scalar, Options > Motion
 
typedef SE3Tpl< Scalar, Options > SE3
 
- Public Types inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived JointDerived
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

 JointModelCompositeTpl ()
 Default contructor.
 
template<typename JointModel >
 JointModelCompositeTpl (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
 Constructor with one joint.
 
 JointModelCompositeTpl (const JointModelCompositeTpl &other)
 Copy constructor.
 
 JointModelCompositeTpl (const size_t size)
 Default contructor with a defined size.
 
template<typename JointModel >
JointModelDerived & addJoint (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
 Add a joint to the vector of joints.
 
template<typename TangentVectorType >
void calc (JointDataDerived &data, const Blank blank, 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) const
 
template<typename NewScalar >
JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl > cast () const
 
JointDataDerived createData () const
 
void disp (std::ostream &os) const
 
const std::vector< boolhasConfigurationLimit () const
 
const std::vector< boolhasConfigurationLimitInTangent () const
 
JointIndex id () const
 
int idx_q () const
 
int idx_v () const
 
int idx_vExtended () const
 
bool isEqual (const JointModelBase< Derived > &other) const
 
template<class OtherDerived >
bool isEqual (const JointModelBase< OtherDerived > &) const
 
bool isEqual (const JointModelCompositeTpl &other) 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< Eigen::Dynamic >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointExtendedModelCols (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type jointExtendedModelCols_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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type JointMappedVelocitySelector_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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::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
 
JointModelCompositeTploperator= (const JointModelCompositeTpl &other)
 
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointModelVariant) JointModelVector
 
 PINOCCHIO_ALIGNED_STD_VECTOR (SE3) jointPlacements
 Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent.
 
 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)
 Update the indexes of subjoints in the stack.
 
std::string shortname () const
 
- Public Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
void calc (JointDataDerived &data, const Blank not_used, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
 
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I=false) const
 
CastType< NewScalar, JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::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
 
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< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
 
bool isEqual (const JointModelBase< OtherDerived > &) const
 
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.
 
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock (Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock_impl (Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::Type jointCols (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock (const Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock (Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock_impl (const Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock_impl (Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols_impl (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows_impl (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows_impl (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template RowsReturn< D >::Type jointRows (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows_impl (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template RowsReturn< D >::Type jointRows_impl (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
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
 
bool operator!= (const JointModelBase< OtherDerived > &other) const
 
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 ()
 
- Static Public Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string classname ()
 

Public Attributes

JointModelVector joints
 Vector of joints contained in the joint composite.
 
int njoints
 Number of joints contained in the JointModelComposite.
 

Protected Member Functions

void updateJointIndexes ()
 Update the indexes of the joints contained in the composition according to the position of the joint composite.
 
- Protected Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBaseoperator= (const JointModelBase &clone)
 

Protected Attributes

std::vector< intm_idx_q
 Keep information of both the dimension and the position of the joints in the composition.
 
std::vector< intm_idx_v
 Index in the tangent vector.
 
std::vector< intm_idx_vExtended
 Index in the jacobian matrix.
 
int m_nq
 Dimensions of the config and tangent space of the composite joint.
 
std::vector< intm_nqs
 Dimension of the segment in the config vector.
 
int m_nv
 
int m_nvExtended
 
std::vector< intm_nvExtendeds
 Dimension of the segment in the jacobian matrix.
 
std::vector< intm_nvs
 Dimension of the segment in the tangent vector.
 
- Protected Attributes inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
JointIndex i_id
 
int i_q
 
int i_v
 
int i_vExtended
 

Friends

template<typename , int , template< typename S, int O > class, typename , typename >
struct JointCompositeCalcFirstOrderStep
 
template<typename , int , template< typename S, int O > class, typename >
struct JointCompositeCalcZeroOrderStep
 
struct Serialize< JointModelCompositeTpl >
 

Detailed Description

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

Definition at line 173 of file joint-composite.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointModelBase<JointModelCompositeTpl> Base

Definition at line 178 of file joint-composite.hpp.

◆ Inertia

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef InertiaTpl<Scalar, Options> Inertia

Definition at line 187 of file joint-composite.hpp.

◆ JointCollection

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

Definition at line 182 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 179 of file joint-composite.hpp.

◆ JointModelVariant

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModelVariant

Definition at line 183 of file joint-composite.hpp.

◆ Motion

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef MotionTpl<Scalar, Options> Motion

Definition at line 186 of file joint-composite.hpp.

◆ SE3

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
typedef SE3Tpl<Scalar, Options> SE3

Definition at line 185 of file joint-composite.hpp.

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/4]

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

Default contructor.

Definition at line 201 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [2/4]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointModelCompositeTpl ( const size_t  size)
inline

Default contructor with a defined size.

Definition at line 212 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [3/4]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename JointModel >
JointModelCompositeTpl ( const JointModelBase< JointModel > &  jmodel,
const SE3 placement = SE3::Identity() 
)
inline

Constructor with one joint.

Parameters
jmodelModel of the first joint.
placementPlacement of the first joint w.r.t. the joint origin.

Definition at line 237 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [4/4]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointModelCompositeTpl ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > &  other)
inline

Copy constructor.

Parameters
otherJointModel to copy.

Definition at line 259 of file joint-composite.hpp.

Member Function Documentation

◆ addJoint()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename JointModel >
JointModelDerived & addJoint ( const JointModelBase< JointModel > &  jmodel,
const SE3 placement = SE3::Identity() 
)
inline

Add a joint to the vector of joints.

Parameters
jmodelModel of the joint to add.
placementPlacement of the joint relatively to its predecessor.
Returns
A reference to *this

Definition at line 286 of file joint-composite.hpp.

◆ calc_aba()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
void calc_aba ( JointDataDerived &  data,
const Eigen::MatrixBase< VectorLike > &  armature,
const Eigen::MatrixBase< Matrix6Like > &  I,
const bool  update_I 
) const
inline

Definition at line 354 of file joint-composite.hpp.

◆ cast()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename NewScalar >
JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl > cast ( ) const
inline
Returns
An expression of *this with the Scalar type casted to NewScalar.

Definition at line 440 of file joint-composite.hpp.

◆ classname()

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

Definition at line 393 of file joint-composite.hpp.

◆ createData()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataDerived createData ( ) const
inline

Definition at line 301 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 626 of file joint-composite.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
const std::vector< bool > hasConfigurationLimit ( ) const
inline

Definition at line 310 of file joint-composite.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
const std::vector< bool > hasConfigurationLimitInTangent ( ) const
inline

Definition at line 321 of file joint-composite.hpp.

◆ id()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointIndex id ( ) const
inline

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

◆ idx_q()

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

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

◆ idx_v()

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

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

◆ idx_vExtended()

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

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

◆ isEqual() [1/3]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
bool isEqual ( const JointModelBase< Derived > &  other) const
inline

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

◆ isEqual() [2/3]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<class OtherDerived >
bool isEqual ( const JointModelBase< OtherDerived > &  ) const
inline

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

◆ isEqual() [3/3]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
bool isEqual ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > &  other) const
inline

Definition at line 422 of file joint-composite.hpp.

◆ jointCols() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 527 of file joint-composite.hpp.

◆ jointCols() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 538 of file joint-composite.hpp.

◆ jointCols_impl() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType jointCols_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 603 of file joint-composite.hpp.

◆ jointCols_impl() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type jointCols_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 615 of file joint-composite.hpp.

◆ jointConfigSelector() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 488 of file joint-composite.hpp.

◆ jointConfigSelector() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 494 of file joint-composite.hpp.

◆ jointConfigSelector_impl() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType jointConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 551 of file joint-composite.hpp.

◆ jointConfigSelector_impl() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type jointConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 557 of file joint-composite.hpp.

◆ jointExtendedModelCols() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointExtendedModelCols ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 533 of file joint-composite.hpp.

◆ jointExtendedModelCols() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointExtendedModelCols ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 544 of file joint-composite.hpp.

◆ jointExtendedModelCols_impl() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType jointExtendedModelCols_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 609 of file joint-composite.hpp.

◆ jointExtendedModelCols_impl() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type jointExtendedModelCols_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 621 of file joint-composite.hpp.

◆ JointMappedConfigSelector() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 475 of file joint-composite.hpp.

◆ JointMappedConfigSelector() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 481 of file joint-composite.hpp.

◆ JointMappedConfigSelector_impl() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType JointMappedConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 564 of file joint-composite.hpp.

◆ JointMappedConfigSelector_impl() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type JointMappedConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 570 of file joint-composite.hpp.

◆ JointMappedVelocitySelector() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 501 of file joint-composite.hpp.

◆ JointMappedVelocitySelector() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 507 of file joint-composite.hpp.

◆ JointMappedVelocitySelector_impl() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 577 of file joint-composite.hpp.

◆ JointMappedVelocitySelector_impl() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type JointMappedVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 583 of file joint-composite.hpp.

◆ jointVelocitySelector() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 514 of file joint-composite.hpp.

◆ jointVelocitySelector() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 520 of file joint-composite.hpp.

◆ jointVelocitySelector_impl() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 590 of file joint-composite.hpp.

◆ jointVelocitySelector_impl() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type jointVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 596 of file joint-composite.hpp.

◆ nq()

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

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

◆ nq_impl()

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

Definition at line 375 of file joint-composite.hpp.

◆ nv()

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

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

◆ nv_impl()

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

Definition at line 371 of file joint-composite.hpp.

◆ nvExtended()

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

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

◆ nvExtended_impl()

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

Definition at line 379 of file joint-composite.hpp.

◆ operator=()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
JointModelCompositeTpl & operator= ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > &  other)
inline

Definition at line 402 of file joint-composite.hpp.

◆ setIndexes() [1/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
void setIndexes ( JointIndex  id,
int  q,
int  v 
)
inline

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

◆ setIndexes() [2/2]

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
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 _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
void setIndexes_impl ( JointIndex  id,
int  q,
int  v,
int  vExtended 
)
inline

Update the indexes of subjoints in the stack.

Definition at line 387 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 397 of file joint-composite.hpp.

◆ updateJointIndexes()

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
void updateJointIndexes ( )
inlineprotected

Update the indexes of the joints contained in the composition according to the position of the joint composite.

Definition at line 644 of file joint-composite.hpp.

Friends And Related Symbol Documentation

◆ JointModelCompositeTpl

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename , int , template< typename, int > class>
friend struct JointModelCompositeTpl
friend

Definition at line 640 of file joint-composite.hpp.

◆ JointCompositeCalcFirstOrderStep

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename , int , template< typename S, int O > class, typename , typename >
friend struct JointCompositeCalcFirstOrderStep
friend

Definition at line 339 of file joint-composite.hpp.

◆ JointCompositeCalcZeroOrderStep

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename , int , template< typename S, int O > class, typename >
friend struct JointCompositeCalcZeroOrderStep
friend

Definition at line 333 of file joint-composite.hpp.

◆ Serialize< JointModelCompositeTpl >

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
friend struct Serialize< JointModelCompositeTpl >
friend

Definition at line 626 of file joint-composite.hpp.

Member Data Documentation

◆ joints

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

Vector of joints contained in the joint composite.

Definition at line 468 of file joint-composite.hpp.

◆ m_idx_q

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> m_idx_q
protected

Keep information of both the dimension and the position of the joints in the composition.

Index in the config vector

Definition at line 680 of file joint-composite.hpp.

◆ m_idx_v

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> m_idx_v
protected

Index in the tangent vector.

Definition at line 684 of file joint-composite.hpp.

◆ m_idx_vExtended

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> m_idx_vExtended
protected

Index in the jacobian matrix.

Definition at line 688 of file joint-composite.hpp.

◆ m_nq

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

Dimensions of the config and tangent space of the composite joint.

Definition at line 675 of file joint-composite.hpp.

◆ m_nqs

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> m_nqs
protected

Dimension of the segment in the config vector.

Definition at line 682 of file joint-composite.hpp.

◆ m_nv

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

Definition at line 675 of file joint-composite.hpp.

◆ m_nvExtended

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

Definition at line 675 of file joint-composite.hpp.

◆ m_nvExtendeds

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> m_nvExtendeds
protected

Dimension of the segment in the jacobian matrix.

Definition at line 690 of file joint-composite.hpp.

◆ m_nvs

template<typename _Scalar , int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> m_nvs
protected

Dimension of the segment in the tangent vector.

Definition at line 686 of file joint-composite.hpp.

◆ njoints

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

Number of joints contained in the JointModelComposite.

Definition at line 694 of file joint-composite.hpp.


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