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

Classes

struct  ConstraintTranspose
 

Public Types

enum  { NV = 3 }
 
typedef Eigen::Matrix< Scalar, 3, 3, Options > Matrix3
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

template<typename Matrix3Like >
 JointMotionSubspaceSphericalZYXTpl (const Eigen::MatrixBase< Matrix3Like > &subspace)
 
template<typename Vector3Like >
JointMotion __mult__ (const Eigen::MatrixBase< Vector3Like > &v) const
 
Matrix3 & angularSubspace ()
 
const Matrix3 & angularSubspace () const
 
bool isEqual (const JointMotionSubspaceSphericalZYXTpl &other) const
 
DenseBase matrix_impl () const
 
template<typename MotionDerived >
DenseBase motionAction (const MotionDense< MotionDerived > &m) const
 
int nv_impl () const
 
Matrix3 & operator() ()
 
const Matrix3 & operator() () const
 
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options > se3Action (const SE3Tpl< S1, O1 > &m) const
 
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options > se3ActionInverse (const SE3Tpl< S1, O1 > &m) const
 
ConstraintTranspose transpose () const
 
- Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
int cols () const
 
JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > & derived ()
 
const JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > & derived () const
 
void disp (std::ostream &os) const
 
bool isApprox (const JointMotionSubspaceBase< OtherDerived > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
MatrixReturnType matrix ()
 
ConstMatrixReturnType matrix () const
 
MotionAlgebraAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >, MotionDerived >::ReturnType motionAction (const MotionDense< MotionDerived > &v) const
 
int nv () const
 
JointMotion operator* (const Eigen::MatrixBase< VectorLike > &vj) const
 
bool operator== (const JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > > &other) const
 
SE3GroupAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >::ReturnType se3Action (const SE3Tpl< Scalar, Options > &m) const
 
SE3GroupAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >::ReturnType se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const
 

Protected Attributes

Matrix3 m_S
 

Additional Inherited Members

- Static Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
static int rows ()
 

Detailed Description

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

Definition at line 50 of file joint-spherical-ZYX.hpp.

Member Typedef Documentation

◆ Matrix3

template<typename _Scalar , int _Options>
typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3

Definition at line 61 of file joint-spherical-ZYX.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar , int _Options>
anonymous enum

Definition at line 57 of file joint-spherical-ZYX.hpp.

Constructor & Destructor Documentation

◆ JointMotionSubspaceSphericalZYXTpl() [1/2]

template<typename _Scalar , int _Options>
JointMotionSubspaceSphericalZYXTpl ( )
inline

Definition at line 63 of file joint-spherical-ZYX.hpp.

◆ JointMotionSubspaceSphericalZYXTpl() [2/2]

template<typename _Scalar , int _Options>
template<typename Matrix3Like >
JointMotionSubspaceSphericalZYXTpl ( const Eigen::MatrixBase< Matrix3Like > &  subspace)
inline

Definition at line 68 of file joint-spherical-ZYX.hpp.

Member Function Documentation

◆ __mult__()

template<typename _Scalar , int _Options>
template<typename Vector3Like >
JointMotion __mult__ ( const Eigen::MatrixBase< Vector3Like > &  v) const
inline

Definition at line 75 of file joint-spherical-ZYX.hpp.

◆ angularSubspace() [1/2]

template<typename _Scalar , int _Options>
Matrix3 & angularSubspace ( )
inline

Definition at line 194 of file joint-spherical-ZYX.hpp.

◆ angularSubspace() [2/2]

template<typename _Scalar , int _Options>
const Matrix3 & angularSubspace ( ) const
inline

Definition at line 198 of file joint-spherical-ZYX.hpp.

◆ isEqual()

template<typename _Scalar , int _Options>
bool isEqual ( const JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > &  other) const
inline

Definition at line 203 of file joint-spherical-ZYX.hpp.

◆ matrix_impl()

template<typename _Scalar , int _Options>
DenseBase matrix_impl ( ) const
inline

Definition at line 131 of file joint-spherical-ZYX.hpp.

◆ motionAction()

template<typename _Scalar , int _Options>
template<typename MotionDerived >
DenseBase motionAction ( const MotionDense< MotionDerived > &  m) const
inline

Definition at line 182 of file joint-spherical-ZYX.hpp.

◆ nv_impl()

template<typename _Scalar , int _Options>
int nv_impl ( ) const
inline

Definition at line 90 of file joint-spherical-ZYX.hpp.

◆ operator()() [1/2]

template<typename _Scalar , int _Options>
Matrix3 & operator() ( )
inline

Definition at line 81 of file joint-spherical-ZYX.hpp.

◆ operator()() [2/2]

template<typename _Scalar , int _Options>
const Matrix3 & operator() ( ) const
inline

Definition at line 85 of file joint-spherical-ZYX.hpp.

◆ se3Action()

template<typename _Scalar , int _Options>
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options > se3Action ( const SE3Tpl< S1, O1 > &  m) const
inline

Definition at line 144 of file joint-spherical-ZYX.hpp.

◆ se3ActionInverse()

template<typename _Scalar , int _Options>
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options > se3ActionInverse ( const SE3Tpl< S1, O1 > &  m) const
inline

Definition at line 166 of file joint-spherical-ZYX.hpp.

◆ transpose()

template<typename _Scalar , int _Options>
ConstraintTranspose transpose ( ) const
inline

Definition at line 126 of file joint-spherical-ZYX.hpp.

Member Data Documentation

◆ m_S

template<typename _Scalar , int _Options>
Matrix3 m_S
protected

Definition at line 209 of file joint-spherical-ZYX.hpp.


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