Inheritance diagram for JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >:

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Collaboration diagram for JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >:

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Public Types
enum	{ MaxNVMimicked = traits<JointDerived>::MaxNVMimicked }

typedef JointModelBase< JointModelMimicTpl >	Base

typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointMimicTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModel

typedef MotionTpl< Scalar, Options >	Motion

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from JointModelBase< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived	JointDerived

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

Public Member Functions
template<typename JointModel >
	JointModelMimicTpl (const JointModelBase< JointModel > &jmodel, const Scalar &scaling, const Scalar &offset)

template<typename JointModelMimicking , typename JointModelMimicked >
	JointModelMimicTpl (const JointModelBase< JointModelMimicking > &jmodel_mimicking, const JointModelBase< JointModelMimicked > &jmodel_mimicked, const Scalar &scaling, const Scalar &offset)

Base &	base ()

const Base &	base () const

template<typename ConfigVector >
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs) const

template<typename ConfigVector , typename TangentVector >
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const

template<typename VectorLike , typename Matrix6Like >
void	calc_aba (JointDataDerived &, const Eigen::MatrixBase< VectorLike > &, const Eigen::MatrixBase< Matrix6Like > &, const bool) const

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

JointDataDerived	createData () const

void	disp (std::ostream &os) const

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

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

JointIndex	id () const

int	idx_q () const

int	idx_v () const

int	idx_vExtended () const

JointModel &	jmodel ()

const JointModel &	jmodel () 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_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	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< NQ >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	JointMappedVelocitySelector_impl (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

int	nq () const

int	nq_impl () const

int	nv () const

int	nv_impl () const

int	nvExtended () const

int	nvExtended_impl () const

Scalar &	offset ()

const Scalar &	offset () const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

Scalar &	scaling ()

const Scalar &	scaling () const

void	setIndexes (JointIndex id, int q, int v)

void	setIndexes (JointIndex id, int q, int v, int vExtended)

void	setIndexes_impl (JointIndex id, int, int, int vExtended)

void	setMimicIndexes (JointIndex id, int q, int v, int vExtended)
	Specific way for mimic joints to set the mimicked q,v indexes. Used for manipulating tree (e.g. appendModel)

std::string	shortname () const

Public Member Functions inherited from JointModelBase< JointModelMimicTpl< _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, JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >::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

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< JointModelMimicTpl< _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< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string	classname ()

Protected Attributes
JointModel	m_jmodel_mimicking

int	m_nqExtended

int	m_nvExtended

Scalar	m_offset

Scalar	m_scaling

Protected Attributes inherited from JointModelBase< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >
JointIndex	i_id

int	i_q

int	i_v

int	i_vExtended

Additional Inherited Members
Protected Member Functions inherited from JointModelBase< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Detailed Description

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

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

Member Typedef Documentation

◆ Base

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

typedef JointModelBase<JointModelMimicTpl> Base

Definition at line 562 of file joint-mimic.hpp.

◆ Inertia

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

typedef InertiaTpl<Scalar, Options> Inertia

Definition at line 575 of file joint-mimic.hpp.

◆ JointCollection

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

typedef JointCollectionTpl<Scalar, Options> JointCollection

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

◆ JointDerived

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

typedef JointMimicTpl<_Scalar, _Options, JointCollectionTpl> JointDerived

Definition at line 563 of file joint-mimic.hpp.

◆ JointModel

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

typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel

Definition at line 571 of file joint-mimic.hpp.

◆ Motion

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

typedef MotionTpl<Scalar, Options> Motion

Definition at line 574 of file joint-mimic.hpp.

◆ SE3

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

typedef SE3Tpl<Scalar, Options> SE3

Definition at line 573 of file joint-mimic.hpp.

Member Enumeration Documentation

◆ anonymous enum

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

anonymous enum

Definition at line 565 of file joint-mimic.hpp.

Constructor & Destructor Documentation

◆ JointModelMimicTpl() [1/3]

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

JointModelMimicTpl ( )

inline

Definition at line 586 of file joint-mimic.hpp.

◆ JointModelMimicTpl() [2/3]

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

template<typename JointModel >

JointModelMimicTpl	(	const JointModelBase< JointModel > &	jmodel,
		const Scalar &	scaling,
		const Scalar &	offset
	)

inline

Definition at line 591 of file joint-mimic.hpp.

◆ JointModelMimicTpl() [3/3]

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

template<typename JointModelMimicking , typename JointModelMimicked >

JointModelMimicTpl	(	const JointModelBase< JointModelMimicking > &	jmodel_mimicking,
		const JointModelBase< JointModelMimicked > &	jmodel_mimicked,
		const Scalar &	scaling,
		const Scalar &	offset
	)

inline

Definition at line 598 of file joint-mimic.hpp.

Member Function Documentation

◆ base() [1/2]

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

Base & base ( )

inline

Definition at line 618 of file joint-mimic.hpp.

◆ base() [2/2]

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

const Base & base ( ) const

inline

Definition at line 622 of file joint-mimic.hpp.

◆ calc() [1/2]

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

template<typename ConfigVector >

PINOCCHIO_DONT_INLINE void calc	(	JointDataDerived &	jdata,
		const typename Eigen::MatrixBase< ConfigVector > &	qs
	)		const

inline

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

◆ calc() [2/2]

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

template<typename ConfigVector , typename TangentVector >

PINOCCHIO_DONT_INLINE void calc	(	JointDataDerived &	jdata,
		const typename Eigen::MatrixBase< ConfigVector > &	qs,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 703 of file joint-mimic.hpp.

◆ calc_aba()

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

template<typename VectorLike , typename Matrix6Like >

void calc_aba	(	JointDataDerived &	,
		const Eigen::MatrixBase< VectorLike > &	,
		const Eigen::MatrixBase< Matrix6Like > &	,
		const bool
	)		const

inline

Definition at line 719 of file joint-mimic.hpp.

◆ cast()

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

template<typename NewScalar >

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

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 743 of file joint-mimic.hpp.

◆ classname()

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

static std::string classname ( )

inlinestatic

Definition at line 731 of file joint-mimic.hpp.

◆ createData()

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

JointDataDerived createData ( ) const

inline

Definition at line 676 of file joint-mimic.hpp.

◆ disp()

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

void disp ( std::ostream & os ) const

inline

Definition at line 876 of file joint-mimic.hpp.

◆ hasConfigurationLimit()

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

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

inline

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

◆ hasConfigurationLimitInTangent()

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

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

inline

Definition at line 687 of file joint-mimic.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.

◆ jmodel() [1/2]

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

JointModel & jmodel ( )

inline

Definition at line 759 of file joint-mimic.hpp.

◆ jmodel() [2/2]

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

const JointModel & jmodel ( ) const

inline

Definition at line 755 of file joint-mimic.hpp.

◆ jointBlock_impl() [1/2]

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

template<typename D >

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

inline

Definition at line 861 of file joint-mimic.hpp.

◆ jointBlock_impl() [2/2]

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

template<typename D >

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

inline

Definition at line 870 of file joint-mimic.hpp.

◆ jointCols_impl() [1/2]

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

template<typename D >

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

inline

Definition at line 826 of file joint-mimic.hpp.

◆ jointCols_impl() [2/2]

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

template<typename D >

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

inline

Definition at line 834 of file joint-mimic.hpp.

◆ JointMappedConfigSelector_impl() [1/2]

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

template<typename D >

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

inline

Definition at line 793 of file joint-mimic.hpp.

◆ JointMappedConfigSelector_impl() [2/2]

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

template<typename D >

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

inline

Definition at line 801 of file joint-mimic.hpp.

◆ JointMappedVelocitySelector_impl() [1/2]

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

template<typename D >

SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 809 of file joint-mimic.hpp.

◆ JointMappedVelocitySelector_impl() [2/2]

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

template<typename D >

SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedVelocitySelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 817 of file joint-mimic.hpp.

◆ jointRows_impl() [1/2]

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

template<typename D >

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

inline

Definition at line 843 of file joint-mimic.hpp.

◆ jointRows_impl() [2/2]

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

template<typename D >

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

inline

Definition at line 851 of file joint-mimic.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 627 of file joint-mimic.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 631 of file joint-mimic.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 635 of file joint-mimic.hpp.

◆ offset() [1/2]

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

Scalar & offset ( )

inline

Definition at line 777 of file joint-mimic.hpp.

◆ offset() [2/2]

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

const Scalar & offset ( ) const

inline

Definition at line 773 of file joint-mimic.hpp.

◆ scaling() [1/2]

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

Scalar & scaling ( )

inline

Definition at line 768 of file joint-mimic.hpp.

◆ scaling() [2/2]

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

const Scalar & scaling ( ) const

inline

Definition at line 764 of file joint-mimic.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	,
		int	,
		int	vExtended
	)

inline

Note: q and v are ignored in the _impl for mimic joint because most algorithms will pass indexes of their current position in the tree, while in this case idx_q and idx_v should remain pointing to the mimicked joint. (See setMimicIndexes)

Definition at line 645 of file joint-mimic.hpp.

◆ setMimicIndexes()

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

void setMimicIndexes	(	JointIndex	id,
		int	q,
		int	v,
		int	vExtended
	)

inline

Specific way for mimic joints to set the mimicked q,v indexes. Used for manipulating tree (e.g. appendModel)

Parameters

id	Set the mimicking joint id
q	Set the mimic joint idx_q (should point to the mimicked joint)
v	Set the mimic joint idx_v (should point to the mimicked joint)
vExtended	Set the mimicking idx_vExtended

Definition at line 665 of file joint-mimic.hpp.

◆ shortname()

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

std::string shortname ( ) const

inline

Definition at line 736 of file joint-mimic.hpp.

Member Data Documentation

◆ m_jmodel_mimicking

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

JointModel m_jmodel_mimicking

protected

Definition at line 784 of file joint-mimic.hpp.

◆ m_nqExtended

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

int m_nqExtended

protected

Definition at line 786 of file joint-mimic.hpp.

◆ m_nvExtended

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

int m_nvExtended

protected

Definition at line 786 of file joint-mimic.hpp.

◆ m_offset

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

Scalar m_offset

protected

Definition at line 785 of file joint-mimic.hpp.

◆ m_scaling

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

Scalar m_scaling

protected

Definition at line 785 of file joint-mimic.hpp.

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

include/pinocchio/multibody/joint/fwd.hpp
include/pinocchio/multibody/joint/joint-mimic.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Inertia

◆ JointCollection

◆ JointDerived

◆ JointModel

◆ Motion

◆ SE3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ JointModelMimicTpl() [1/3]

◆ JointModelMimicTpl() [2/3]

◆ JointModelMimicTpl() [3/3]

Member Function Documentation

◆ base() [1/2]

◆ base() [2/2]

◆ calc() [1/2]

◆ calc() [2/2]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ disp()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ jmodel() [1/2]

◆ jmodel() [2/2]

◆ jointBlock_impl() [1/2]

◆ jointBlock_impl() [2/2]

◆ jointCols_impl() [1/2]

◆ jointCols_impl() [2/2]

◆ JointMappedConfigSelector_impl() [1/2]

◆ JointMappedConfigSelector_impl() [2/2]

◆ JointMappedVelocitySelector_impl() [1/2]

◆ JointMappedVelocitySelector_impl() [2/2]

◆ jointRows_impl() [1/2]

◆ jointRows_impl() [2/2]

◆ nq()

◆ nq_impl()

◆ nv()

◆ nv_impl()

◆ nvExtended()

◆ nvExtended_impl()

◆ offset() [1/2]

◆ offset() [2/2]

◆ scaling() [1/2]

◆ scaling() [2/2]

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ setIndexes_impl()

◆ setMimicIndexes()

◆ shortname()

Member Data Documentation

◆ m_jmodel_mimicking

◆ m_nqExtended

◆ m_nvExtended

◆ m_offset

◆ m_scaling