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

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

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Public Types
typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointCollection::JointDataVariant	JointDataVariant

typedef JointTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived

typedef JointCollection::JointModelVariant	JointModelVariant

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

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

Public Member Functions
template<typename JointModelDerived >
	JointModelTpl (const JointModelBase< JointModelDerived > &jmodel)

	JointModelTpl (const JointModelVariant &jmodel_variant)

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

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

template<typename ConfigVector , typename TangentVector >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< TangentVector > &v) 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 >
JointModelTpl< NewScalar, Options, JointCollectionTpl >	cast () const

JointDataDerived	createData () const

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

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

template<typename JointModelDerived >
bool	hasSameIndexes (const JointModelBase< JointModelDerived > &other) const

JointIndex	id_impl () const

int	idx_q_impl () const

int	idx_v_impl () const

int	idx_vExtended_impl () const

template<typename JointModelDerived >
bool	isEqual (const JointModelBase< JointModelDerived > &other) const

bool	isEqual (const JointModelTpl &other) const

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

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

int	nq_impl () const

int	nv_impl () const

int	nvExtended_impl () const

bool	operator!= (const JointModelTpl &other) const

bool	operator== (const JointModelTpl &other) const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

	PINOCCHIO_JOINT_USE_INDEXES (JointModelTpl)

void	setIndexes (JointIndex id, int nq, int nv)

void	setIndexes (JointIndex id, int nq, int nv, int nvExtended)

std::string	shortname () const

JointModelVariant &	toVariant ()

const JointModelVariant &	toVariant () const

Public Member Functions inherited from JointModelBase< JointModelTpl< _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, JointModelTpl< _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< JointModelTpl< _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< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string	classname ()

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

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

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

int	i_q

int	i_v

int	i_vExtended

Detailed Description

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

Definition at line 262 of file joint-generic.hpp.

Member Typedef Documentation

◆ JointCollection

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

typedef JointCollectionTpl<Scalar, Options> JointCollection

Definition at line 273 of file joint-generic.hpp.

◆ JointDataVariant

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

typedef JointCollection::JointDataVariant JointDataVariant

Definition at line 274 of file joint-generic.hpp.

◆ JointDerived

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

typedef JointTpl<_Scalar, _Options, JointCollectionTpl> JointDerived

Definition at line 268 of file joint-generic.hpp.

◆ JointModelVariant

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

typedef JointCollection::JointModelVariant JointModelVariant

Definition at line 275 of file joint-generic.hpp.

Constructor & Destructor Documentation

◆ JointModelTpl() [1/3]

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

JointModelTpl ( )

inline

Definition at line 282 of file joint-generic.hpp.

◆ JointModelTpl() [2/3]

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

JointModelTpl ( const JointModelVariant & jmodel_variant )

inline

Definition at line 287 of file joint-generic.hpp.

◆ JointModelTpl() [3/3]

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

template<typename JointModelDerived >

JointModelTpl ( const JointModelBase< JointModelDerived > & jmodel )

inline

Definition at line 303 of file joint-generic.hpp.

Member Function Documentation

◆ calc() [1/3]

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

template<typename TangentVector >

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

inline

Definition at line 359 of file joint-generic.hpp.

◆ calc() [2/3]

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

template<typename ConfigVector >

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

inline

Definition at line 353 of file joint-generic.hpp.

◆ calc() [3/3]

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

template<typename ConfigVector , typename TangentVector >

void calc	(	JointDataDerived &	data,
		const Eigen::MatrixBase< ConfigVector > &	q,
		const Eigen::MatrixBase< TangentVector > &	v
	)		const

inline

Definition at line 366 of file joint-generic.hpp.

◆ calc_aba()

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

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 375 of file joint-generic.hpp.

◆ cast()

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

template<typename NewScalar >

JointModelTpl< NewScalar, Options, JointCollectionTpl > cast ( ) const

inline

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

Definition at line 462 of file joint-generic.hpp.

◆ classname()

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

static std::string classname ( )

inlinestatic

Definition at line 414 of file joint-generic.hpp.

◆ createData()

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

JointDataDerived createData ( ) const

inline

Definition at line 320 of file joint-generic.hpp.

◆ hasConfigurationLimit()

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

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

inline

Definition at line 292 of file joint-generic.hpp.

◆ hasConfigurationLimitInTangent()

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

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

inline

Definition at line 297 of file joint-generic.hpp.

◆ hasSameIndexes()

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

template<typename JointModelDerived >

bool hasSameIndexes ( const JointModelBase< JointModelDerived > & other ) const

inline

Definition at line 332 of file joint-generic.hpp.

◆ id_impl()

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

JointIndex id_impl ( ) const

inline

Definition at line 445 of file joint-generic.hpp.

◆ idx_q_impl()

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

int idx_q_impl ( ) const

inline

Definition at line 432 of file joint-generic.hpp.

◆ idx_v_impl()

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

int idx_v_impl ( ) const

inline

Definition at line 436 of file joint-generic.hpp.

◆ idx_vExtended_impl()

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

int idx_vExtended_impl ( ) const

inline

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

◆ isEqual() [1/2]

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

template<typename JointModelDerived >

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

inline

Definition at line 326 of file joint-generic.hpp.

◆ isEqual() [2/2]

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

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

inline

Definition at line 337 of file joint-generic.hpp.

◆ JointMappedConfigSelector_impl() [1/2]

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

template<typename D >

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

inline

Definition at line 389 of file joint-generic.hpp.

◆ JointMappedConfigSelector_impl() [2/2]

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

template<typename D >

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

inline

Definition at line 401 of file joint-generic.hpp.

◆ nq_impl()

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

int nq_impl ( ) const

inline

Definition at line 419 of file joint-generic.hpp.

◆ nv_impl()

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

int nv_impl ( ) const

inline

Definition at line 423 of file joint-generic.hpp.

◆ nvExtended_impl()

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

int nvExtended_impl ( ) const

inline

Definition at line 427 of file joint-generic.hpp.

◆ operator!=()

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

bool operator!= ( const JointModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Definition at line 347 of file joint-generic.hpp.

◆ operator==()

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

bool operator== ( const JointModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Definition at line 342 of file joint-generic.hpp.

◆ setIndexes() [1/2]

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

void setIndexes	(	JointIndex	id,
		int	nq,
		int	nv
	)

inline

Definition at line 450 of file joint-generic.hpp.

◆ setIndexes() [2/2]

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

void setIndexes	(	JointIndex	id,
		int	nq,
		int	nv,
		int	nvExtended
	)

inline

Definition at line 455 of file joint-generic.hpp.

◆ shortname()

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

std::string shortname ( ) const

inline

Definition at line 410 of file joint-generic.hpp.

◆ toVariant() [1/2]

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

JointModelVariant & toVariant ( )

inline

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

◆ toVariant() [2/2]

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

const JointModelVariant & toVariant ( ) const

inline

Definition at line 315 of file joint-generic.hpp.

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

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ JointCollection

◆ JointDataVariant

◆ JointDerived

◆ JointModelVariant

Constructor & Destructor Documentation

◆ JointModelTpl() [1/3]

◆ JointModelTpl() [2/3]

◆ JointModelTpl() [3/3]

Member Function Documentation

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ hasSameIndexes()

◆ id_impl()

◆ idx_q_impl()

◆ idx_v_impl()

◆ idx_vExtended_impl()

◆ isEqual() [1/2]

◆ isEqual() [2/2]

◆ JointMappedConfigSelector_impl() [1/2]

◆ JointMappedConfigSelector_impl() [2/2]

◆ nq_impl()

◆ nv_impl()

◆ nvExtended_impl()

◆ operator!=()

◆ operator==()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ shortname()

◆ toVariant() [1/2]

◆ toVariant() [2/2]