Inheritance diagram for JointModelPrismaticUnalignedTpl< _Scalar, _Options >:

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Collaboration diagram for JointModelPrismaticUnalignedTpl< _Scalar, _Options >:

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Public Types
typedef JointModelBase< JointModelPrismaticUnalignedTpl >	Base

typedef JointPrismaticUnalignedTpl< _Scalar, _Options >	JointDerived

typedef Eigen::Matrix< Scalar, 3, 1, _Options >	Vector3

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

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

Public Member Functions
template<typename Vector3Like >
	JointModelPrismaticUnalignedTpl (const Eigen::MatrixBase< Vector3Like > &axis)

	JointModelPrismaticUnalignedTpl (const Scalar &x, const Scalar &y, const Scalar &z)

template<typename TangentVector >
void	calc (JointDataDerived &data, const Blank, const typename Eigen::MatrixBase< TangentVector > &vs) const

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

template<typename ConfigVector , typename TangentVector >
void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &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 >
JointModelPrismaticUnalignedTpl< NewScalar, Options >	cast () const

JointDataDerived	createData () 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

bool	isEqual (const JointModelBase< Derived > &other) const

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

bool	isEqual (const JointModelPrismaticUnalignedTpl &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)

std::string	shortname () const

Public Member Functions inherited from JointModelBase< JointModelPrismaticUnalignedTpl< _Scalar, _Options > >
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, JointModelPrismaticUnalignedTpl< _Scalar, _Options > >::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< JointModelPrismaticUnalignedTpl< _Scalar, _Options > > &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< JointModelPrismaticUnalignedTpl< _Scalar, _Options > >
static std::string	classname ()

Public Attributes
Vector3	axis
	3d main axis of the joint.

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

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

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

int	i_q

int	i_v

int	i_vExtended

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::JointModelPrismaticUnalignedTpl< _Scalar, _Options >

Definition at line 586 of file joint-prismatic-unaligned.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef JointModelBase<JointModelPrismaticUnalignedTpl> Base

Definition at line 593 of file joint-prismatic-unaligned.hpp.

◆ JointDerived

template<typename _Scalar , int _Options>

typedef JointPrismaticUnalignedTpl<_Scalar, _Options> JointDerived

Definition at line 590 of file joint-prismatic-unaligned.hpp.

◆ Vector3

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3

Definition at line 600 of file joint-prismatic-unaligned.hpp.

Constructor & Destructor Documentation

◆ JointModelPrismaticUnalignedTpl() [1/3]

template<typename _Scalar , int _Options>

JointModelPrismaticUnalignedTpl ( )

inline

Definition at line 602 of file joint-prismatic-unaligned.hpp.

◆ JointModelPrismaticUnalignedTpl() [2/3]

template<typename _Scalar , int _Options>

JointModelPrismaticUnalignedTpl	(	const Scalar &	x,
		const Scalar &	y,
		const Scalar &	z
	)

inline

Definition at line 606 of file joint-prismatic-unaligned.hpp.

◆ JointModelPrismaticUnalignedTpl() [3/3]

template<typename _Scalar , int _Options>

template<typename Vector3Like >

JointModelPrismaticUnalignedTpl ( const Eigen::MatrixBase< Vector3Like > & axis )

inline

Definition at line 614 of file joint-prismatic-unaligned.hpp.

Member Function Documentation

◆ calc() [1/3]

template<typename _Scalar , int _Options>

template<typename TangentVector >

void calc	(	JointDataDerived &	data,
		const Blank	,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 651 of file joint-prismatic-unaligned.hpp.

◆ calc() [2/3]

template<typename _Scalar , int _Options>

template<typename ConfigVector >

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

inline

Definition at line 643 of file joint-prismatic-unaligned.hpp.

◆ calc() [3/3]

template<typename _Scalar , int _Options>

template<typename ConfigVector , typename TangentVector >

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

inline

Definition at line 659 of file joint-prismatic-unaligned.hpp.

◆ calc_aba()

template<typename _Scalar , int _Options>

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

inline

Definition at line 671 of file joint-prismatic-unaligned.hpp.

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

JointModelPrismaticUnalignedTpl< NewScalar, Options > cast ( ) const

inline

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

Definition at line 697 of file joint-prismatic-unaligned.hpp.

◆ classname()

template<typename _Scalar , int _Options>

static std::string classname ( )

inlinestatic

Definition at line 686 of file joint-prismatic-unaligned.hpp.

◆ createData()

template<typename _Scalar , int _Options>

JointDataDerived createData ( ) const

inline

Definition at line 621 of file joint-prismatic-unaligned.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar , int _Options>

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

inline

Definition at line 626 of file joint-prismatic-unaligned.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar , int _Options>

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

inline

Definition at line 631 of file joint-prismatic-unaligned.hpp.

◆ id()

template<typename _Scalar , int _Options>

JointIndex id ( ) const

inline

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

◆ idx_q()

template<typename _Scalar , int _Options>

int idx_q ( ) const

inline

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

◆ idx_v()

template<typename _Scalar , int _Options>

int idx_v ( ) const

inline

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

◆ idx_vExtended()

template<typename _Scalar , int _Options>

int idx_vExtended ( ) const

inline

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

◆ isEqual() [1/3]

template<typename _Scalar , int _Options>

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<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>

bool isEqual ( const JointModelPrismaticUnalignedTpl< _Scalar, _Options > & other ) const

inline

Definition at line 637 of file joint-prismatic-unaligned.hpp.

◆ setIndexes() [1/2]

template<typename _Scalar , int _Options>

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>

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

inline

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

◆ shortname()

template<typename _Scalar , int _Options>

std::string shortname ( ) const

inline

Definition at line 690 of file joint-prismatic-unaligned.hpp.

Member Data Documentation

◆ axis

template<typename _Scalar , int _Options>

Vector3 axis

3d main axis of the joint.

Definition at line 710 of file joint-prismatic-unaligned.hpp.

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

include/pinocchio/multibody/joint/fwd.hpp
include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ JointDerived

◆ Vector3

Constructor & Destructor Documentation

◆ JointModelPrismaticUnalignedTpl() [1/3]

◆ JointModelPrismaticUnalignedTpl() [2/3]

◆ JointModelPrismaticUnalignedTpl() [3/3]

Member Function Documentation

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ isEqual() [1/3]

◆ isEqual() [2/3]

◆ isEqual() [3/3]

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ shortname()

Member Data Documentation

◆ axis