TransformPrismaticTpl< _Scalar, _Options, axis > Struct Template Reference

Inheritance diagram for TransformPrismaticTpl< _Scalar, _Options, axis >:

Collaboration diagram for TransformPrismaticTpl< _Scalar, _Options, axis >:

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

Public Member Functions
	TransformPrismaticTpl (const Scalar &displacement)
Scalar &	displacement ()
const Scalar &	displacement () const
bool	isEqual (const TransformPrismaticTpl &other) const
	operator PlainType () const
	PINOCCHIO_SE3_TYPEDEF_TPL (TransformPrismaticTpl)
PlainType	plain () const
AngularType	rotation () const
template<typename S2 , int O2>
SE3GroupAction< TransformPrismaticTpl >::ReturnType	se3action (const SE3Tpl< S2, O2 > &m) const
ConstLinearRef	translation () const
Public Member Functions inherited from SE3Base< TransformPrismaticTpl< _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)
TransformPrismaticTpl< _Scalar, _Options, axis > &	const_cast_derived () const
TransformPrismaticTpl< _Scalar, _Options, axis > &	derived ()
const TransformPrismaticTpl< _Scalar, _Options, axis > &	derived () const
void	disp (std::ostream &os) const
bool	isApprox (const TransformPrismaticTpl< _Scalar, _Options, axis > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isIdentity (const typename traits< TransformPrismaticTpl< _Scalar, _Options, axis > >::Scalar &prec=Eigen::NumTraits< typename traits< TransformPrismaticTpl< _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 TransformPrismaticTpl< _Scalar, _Options, axis > &other) const
SE3GroupAction< TransformPrismaticTpl< _Scalar, _Options, axis > >::ReturnType	operator* (const TransformPrismaticTpl< _Scalar, _Options, axis > &m2) const
bool	operator== (const TransformPrismaticTpl< _Scalar, _Options, axis > &other) const
	PINOCCHIO_SE3_TYPEDEF_TPL (TransformPrismaticTpl< _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 Attributes
Scalar	m_displacement

Detailed Description

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

Definition at line 232 of file joint-prismatic.hpp.

Member Typedef Documentation

Axis

template<typename _Scalar , int _Options, int axis>

typedef SpatialAxis<axis + LINEAR> Axis

Definition at line 237 of file joint-prismatic.hpp.

CartesianAxis3

template<typename _Scalar , int _Options, int axis>

typedef Axis::CartesianAxis3 CartesianAxis3

Definition at line 238 of file joint-prismatic.hpp.

Constructor & Destructor Documentation

TransformPrismaticTpl() [1/2]

template<typename _Scalar , int _Options, int axis>

TransformPrismaticTpl ( )

inline

Definition at line 240 of file joint-prismatic.hpp.

TransformPrismaticTpl() [2/2]

template<typename _Scalar , int _Options, int axis>

TransformPrismaticTpl ( const Scalar &  displacement )

inline

Definition at line 243 of file joint-prismatic.hpp.

Member Function Documentation

displacement() [1/2]

template<typename _Scalar , int _Options, int axis>

Scalar & displacement ( )

inline

Definition at line 277 of file joint-prismatic.hpp.

displacement() [2/2]

template<typename _Scalar , int _Options, int axis>

const Scalar & displacement ( ) const

inline

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

isEqual()

template<typename _Scalar , int _Options, int axis>

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

inline

Definition at line 291 of file joint-prismatic.hpp.

operator PlainType()

template<typename _Scalar , int _Options, int axis>

operator PlainType ( ) const

inline

Definition at line 257 of file joint-prismatic.hpp.

plain()

template<typename _Scalar , int _Options, int axis>

PlainType plain ( ) const

inline

Definition at line 248 of file joint-prismatic.hpp.

rotation()

template<typename _Scalar , int _Options, int axis>

AngularType rotation ( ) const

inline

Definition at line 286 of file joint-prismatic.hpp.

se3action()

template<typename _Scalar , int _Options, int axis>

template<typename S2 , int O2>

SE3GroupAction< TransformPrismaticTpl >::ReturnType se3action ( const SE3Tpl< S2, O2 > &  m ) const

inline

Definition at line 264 of file joint-prismatic.hpp.

translation()

template<typename _Scalar , int _Options, int axis>

ConstLinearRef translation ( ) const

inline

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

Member Data Documentation

m_displacement

template<typename _Scalar , int _Options, int axis>

Scalar m_displacement

protected

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

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

• include/pinocchio/multibody/joint/joint-prismatic.hpp