Inheritance diagram for JointModelSphericalTpl< _Scalar, _Options >:

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Collaboration diagram for JointModelSphericalTpl< _Scalar, _Options >:

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Public Types
typedef JointModelBase< JointModelSphericalTpl >	Base

typedef JointSphericalTpl< _Scalar, _Options >	JointDerived

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

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

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

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

template<typename QuaternionDerived >
void	calc (JointDataDerived &data, const typename Eigen::QuaternionBase< QuaternionDerived > &quat) 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 >
JointModelSphericalTpl< NewScalar, Options >	cast () const

JointDataDerived	createData () const

template<typename ConfigVectorLike >
void	forwardKinematics (Transformation_t &M, const Eigen::MatrixBase< ConfigVectorLike > &q_joint) 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

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

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

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

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

int	i_q

int	i_v

int	i_vExtended

Detailed Description

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

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

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef JointModelBase<JointModelSphericalTpl> Base

Definition at line 482 of file joint-spherical.hpp.

◆ JointDerived

template<typename _Scalar , int _Options>

typedef JointSphericalTpl<_Scalar, _Options> JointDerived

Definition at line 479 of file joint-spherical.hpp.

Member Function Documentation

◆ calc() [1/5]

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 556 of file joint-spherical.hpp.

◆ calc() [2/5]

template<typename _Scalar , int _Options>

template<typename ConfigVector >

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

inline

Definition at line 546 of file joint-spherical.hpp.

◆ calc() [3/5]

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 564 of file joint-spherical.hpp.

◆ calc() [4/5]

template<typename _Scalar , int _Options>

template<typename ConfigVector >

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

inline

Definition at line 534 of file joint-spherical.hpp.

◆ calc() [5/5]

template<typename _Scalar , int _Options>

template<typename QuaternionDerived >

void calc	(	JointDataDerived &	data,
		const typename Eigen::QuaternionBase< QuaternionDerived > &	quat
	)		const

inline

Definition at line 525 of file joint-spherical.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 575 of file joint-spherical.hpp.

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

JointModelSphericalTpl< NewScalar, Options > cast ( ) const

inline

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

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

◆ classname()

template<typename _Scalar , int _Options>

static std::string classname ( )

inlinestatic

Definition at line 592 of file joint-spherical.hpp.

◆ createData()

template<typename _Scalar , int _Options>

JointDataDerived createData ( ) const

inline

Definition at line 489 of file joint-spherical.hpp.

◆ forwardKinematics()

template<typename _Scalar , int _Options>

template<typename ConfigVectorLike >

void forwardKinematics	(	Transformation_t &	M,
		const Eigen::MatrixBase< ConfigVectorLike > &	q_joint
	)		const

inline

Definition at line 505 of file joint-spherical.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar , int _Options>

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

inline

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

◆ hasConfigurationLimitInTangent()

template<typename _Scalar , int _Options>

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

inline

Definition at line 499 of file joint-spherical.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.

◆ 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 596 of file joint-spherical.hpp.

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

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ JointDerived

Member Function Documentation

◆ calc() [1/5]

◆ calc() [2/5]

◆ calc() [3/5]

◆ calc() [4/5]

◆ calc() [5/5]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ forwardKinematics()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ shortname()