pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
TransformHelicalTpl< _Scalar, _Options, axis > Struct Template Reference
Inheritance diagram for TransformHelicalTpl< _Scalar, _Options, axis >:
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Collaboration diagram for TransformHelicalTpl< _Scalar, _Options, axis >:
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Public Types

typedef SpatialAxis< axis+LINEAR > AxisLinear
 
typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

 TransformHelicalTpl (const Scalar &sin, const Scalar &cos, const Scalar &displacement)
 
Scalar & cos ()
 
const Scalar & cos () const
 
Scalar & displacement ()
 
const Scalar & displacement () const
 
bool isEqual (const TransformHelicalTpl &other) const
 
 operator PlainType () const
 
 PINOCCHIO_SE3_TYPEDEF_TPL (TransformHelicalTpl)
 
PlainType plain () const
 
AngularType rotation () const
 
template<typename S2 , int O2>
SE3GroupAction< TransformHelicalTpl >::ReturnType se3action (const SE3Tpl< S2, O2 > &m) const
 
template<typename Scalar1 , typename Scalar2 , typename Scalar3 >
void setValues (const Scalar1 &sin, const Scalar2 &cos, const Scalar3 &displacement)
 
Scalar & sin ()
 
const Scalar & sin () const
 
LinearType translation () const
 
- Public Member Functions inherited from SE3Base< TransformHelicalTpl< _Scalar, _Options, axis > >
SE3GroupAction< D >::ReturnType act (const D &d) const
 ay = aXb.act(by)
 
SE3GroupAction< D >::ReturnType actInv (const D &d) const
 by = aXb.actInv(ay)
 
TransformHelicalTpl< _Scalar, _Options, axis > & const_cast_derived () const
 
TransformHelicalTpl< _Scalar, _Options, axis > & derived ()
 
const TransformHelicalTpl< _Scalar, _Options, axis > & derived () const
 
void disp (std::ostream &os) const
 
bool isApprox (const TransformHelicalTpl< _Scalar, _Options, axis > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isIdentity (const typename traits< TransformHelicalTpl< _Scalar, _Options, axis > >::Scalar &prec=Eigen::NumTraits< typename traits< TransformHelicalTpl< _Scalar, _Options, axis > >::Scalar >::dummy_precision()) const
 
bool isNormalized (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
void normalize ()
 Normalize *this in such a way the rotation part of *this lies on SO(3).
 
PlainType normalized () const
 
 operator ActionMatrixType () const
 
 operator HomogeneousMatrixType () const
 
bool operator!= (const TransformHelicalTpl< _Scalar, _Options, axis > &other) const
 
SE3GroupAction< TransformHelicalTpl< _Scalar, _Options, axis > >::ReturnType operator* (const TransformHelicalTpl< _Scalar, _Options, axis > &m2) const
 
bool operator== (const TransformHelicalTpl< _Scalar, _Options, axis > &other) const
 
 PINOCCHIO_SE3_TYPEDEF_TPL (TransformHelicalTpl< _Scalar, _Options, axis >)
 
AngularRef rotation ()
 
ConstAngularRef rotation () const
 
void rotation (const AngularType &R)
 
ActionMatrixType toActionMatrix () const
 The action matrix \( {}^aX_b \) of \( {}^aM_b \).
 
void toActionMatrix (const Eigen::MatrixBase< Matrix6Like > &action_matrix) const
 
ActionMatrixType toActionMatrixInverse () const
 The action matrix \( {}^bX_a \) of \( {}^aM_b \).
 
void toActionMatrixInverse (const Eigen::MatrixBase< Matrix6Like > &action_matrix_inverse) const
 
ActionMatrixType toDualActionMatrix () const
 
void toDualActionMatrix (const Eigen::MatrixBase< Matrix6Like > &dual_action_matrix) const
 
HomogeneousMatrixType toHomogeneousMatrix () const
 
LinearRef translation ()
 
ConstLinearRef translation () const
 
void translation (const LinearType &t)
 

Protected Member Functions

void _setRotation (typename PlainType::AngularRef &rot) const
 

Protected Attributes

Scalar m_cos
 
Scalar m_displacement
 
Scalar m_sin
 

Detailed Description

template<typename _Scalar, int _Options, int axis>
struct pinocchio::TransformHelicalTpl< _Scalar, _Options, axis >

Definition at line 96 of file joint-helical.hpp.

Member Typedef Documentation

◆ AxisLinear

template<typename _Scalar , int _Options, int axis>
typedef SpatialAxis<axis + LINEAR> AxisLinear

Definition at line 101 of file joint-helical.hpp.

◆ CartesianAxis3Linear

template<typename _Scalar , int _Options, int axis>
typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear

Definition at line 102 of file joint-helical.hpp.

Constructor & Destructor Documentation

◆ TransformHelicalTpl() [1/2]

template<typename _Scalar , int _Options, int axis>
TransformHelicalTpl ( )
inline

Definition at line 104 of file joint-helical.hpp.

◆ TransformHelicalTpl() [2/2]

template<typename _Scalar , int _Options, int axis>
TransformHelicalTpl ( const Scalar &  sin,
const Scalar &  cos,
const Scalar &  displacement 
)
inline

Definition at line 107 of file joint-helical.hpp.

Member Function Documentation

◆ _setRotation()

template<typename _Scalar , int _Options, int axis>
void _setRotation ( typename PlainType::AngularRef &  rot) const
inlineprotected

Definition at line 218 of file joint-helical.hpp.

◆ cos() [1/2]

template<typename _Scalar , int _Options, int axis>
Scalar & cos ( )
inline

Definition at line 176 of file joint-helical.hpp.

◆ cos() [2/2]

template<typename _Scalar , int _Options, int axis>
const Scalar & cos ( ) const
inline

Definition at line 172 of file joint-helical.hpp.

◆ displacement() [1/2]

template<typename _Scalar , int _Options, int axis>
Scalar & displacement ( )
inline

Definition at line 185 of file joint-helical.hpp.

◆ displacement() [2/2]

template<typename _Scalar , int _Options, int axis>
const Scalar & displacement ( ) const
inline

Definition at line 181 of file joint-helical.hpp.

◆ isEqual()

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

Definition at line 209 of file joint-helical.hpp.

◆ operator PlainType()

template<typename _Scalar , int _Options, int axis>
operator PlainType ( ) const
inline

Definition at line 122 of file joint-helical.hpp.

◆ plain()

template<typename _Scalar , int _Options, int axis>
PlainType plain ( ) const
inline

Definition at line 114 of file joint-helical.hpp.

◆ rotation()

template<typename _Scalar , int _Options, int axis>
AngularType rotation ( ) const
inline

Definition at line 202 of file joint-helical.hpp.

◆ se3action()

template<typename _Scalar , int _Options, int axis>
template<typename S2 , int O2>
SE3GroupAction< TransformHelicalTpl >::ReturnType se3action ( const SE3Tpl< S2, O2 > &  m) const
inline

Definition at line 129 of file joint-helical.hpp.

◆ setValues()

template<typename _Scalar , int _Options, int axis>
template<typename Scalar1 , typename Scalar2 , typename Scalar3 >
void setValues ( const Scalar1 &  sin,
const Scalar2 &  cos,
const Scalar3 &  displacement 
)
inline

Definition at line 191 of file joint-helical.hpp.

◆ sin() [1/2]

template<typename _Scalar , int _Options, int axis>
Scalar & sin ( )
inline

Definition at line 167 of file joint-helical.hpp.

◆ sin() [2/2]

template<typename _Scalar , int _Options, int axis>
const Scalar & sin ( ) const
inline

Definition at line 163 of file joint-helical.hpp.

◆ translation()

template<typename _Scalar , int _Options, int axis>
LinearType translation ( ) const
inline

Definition at line 198 of file joint-helical.hpp.

Member Data Documentation

◆ m_cos

template<typename _Scalar , int _Options, int axis>
Scalar m_cos
protected

Definition at line 217 of file joint-helical.hpp.

◆ m_displacement

template<typename _Scalar , int _Options, int axis>
Scalar m_displacement
protected

Definition at line 217 of file joint-helical.hpp.

◆ m_sin

template<typename _Scalar , int _Options, int axis>
Scalar m_sin
protected

Definition at line 217 of file joint-helical.hpp.

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