pinocchio  3.5.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
joint-model-base.hpp
1 //
2 // Copyright (c) 2015-2019 CNRS INRIA
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5 
6 #ifndef __pinocchio_multibody_joint_model_base_hpp__
7 #define __pinocchio_multibody_joint_model_base_hpp__
8 
9 #include "pinocchio/multibody/joint/joint-base.hpp"
10 #include "pinocchio/multibody/joint/joint-common-operations.hpp"
11 
12 #include "pinocchio/math/matrix-block.hpp"
13 
14 #include <limits>
15 
16 #define PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, TYPENAME) \
17  typedef Eigen::DenseIndex Index; \
18  typedef TYPENAME traits<Joint>::Scalar Scalar; \
19  typedef TYPENAME traits<Joint>::JointDataDerived JointDataDerived; \
20  typedef TYPENAME traits<Joint>::JointModelDerived JointModelDerived; \
21  typedef TYPENAME traits<Joint>::Constraint_t Constraint_t; \
22  typedef TYPENAME traits<Joint>::Transformation_t Transformation_t; \
23  typedef TYPENAME traits<Joint>::Motion_t Motion_t; \
24  typedef TYPENAME traits<Joint>::Bias_t Bias_t; \
25  typedef TYPENAME traits<Joint>::U_t U_t; \
26  typedef TYPENAME traits<Joint>::D_t D_t; \
27  typedef TYPENAME traits<Joint>::UD_t UD_t; \
28  typedef TYPENAME traits<Joint>::is_mimicable_t is_mimicable_t; \
29  enum \
30  { \
31  Options = traits<Joint>::Options, \
32  NQ = traits<Joint>::NQ, \
33  NV = traits<Joint>::NV, \
34  NVExtended = traits<Joint>::NVExtended \
35  }; \
36  typedef TYPENAME traits<Joint>::ConfigVector_t ConfigVector_t; \
37  typedef TYPENAME traits<Joint>::TangentVector_t TangentVector_t
38 
39 #ifdef __clang__
40 
41  #define PINOCCHIO_JOINT_TYPEDEF(Joint) \
42  PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, PINOCCHIO_EMPTY_ARG)
43  #define PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(Joint) \
44  PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, typename)
45 
46 #elif (__GNUC__ == 4) && (__GNUC_MINOR__ == 4) && (__GNUC_PATCHLEVEL__ == 2)
47 
48  #define PINOCCHIO_JOINT_TYPEDEF(Joint) \
49  PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, PINOCCHIO_EMPTY_ARG)
50  #define PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(Joint) \
51  PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, typename)
52 
53 #else
54 
55  #define PINOCCHIO_JOINT_TYPEDEF(Joint) PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, typename)
56  #define PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(Joint) \
57  PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, typename)
58 
59 #endif
60 
61 #define PINOCCHIO_JOINT_USE_INDEXES(Joint) \
62  typedef JointModelBase<Joint> Base; \
63  using Base::idx_q; \
64  using Base::idx_v; \
65  using Base::idx_vExtended
66 
67 #define PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelTpl) \
68  template<typename Scalar, int Options, typename NewScalar> \
69  struct CastType<NewScalar, JointModelTpl<Scalar, Options>> \
70  { \
71  typedef JointModelTpl<NewScalar, Options> type; \
72  }
73 
74 namespace pinocchio
75 {
76 
77  template<typename Derived>
78  struct JointModelBase : NumericalBase<Derived>
79  {
80  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 
82  typedef typename traits<Derived>::JointDerived JointDerived;
83  PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived);
84 
85  JointModelDerived & derived()
86  {
87  return *static_cast<Derived *>(this);
88  }
89  const JointModelDerived & derived() const
90  {
91  return *static_cast<const Derived *>(this);
92  }
93 
94  JointDataDerived createData() const
95  {
96  return derived().createData();
97  }
98 
99  const std::vector<bool> hasConfigurationLimit() const
100  {
101  return derived().hasConfigurationLimit();
102  }
103 
104  const std::vector<bool> hasConfigurationLimitInTangent() const
105  {
106  return derived().hasConfigurationLimitInTangent();
107  }
108 
109  template<typename ConfigVectorType>
110  void calc(JointDataDerived & data, const Eigen::MatrixBase<ConfigVectorType> & qs) const
111  {
112  derived().calc(data, qs.derived());
113  }
114 
115  template<typename TangentVectorType>
116  void calc(
117  JointDataDerived & data,
118  const Blank not_used,
119  const Eigen::MatrixBase<TangentVectorType> & vs) const
120  {
121  derived().calc(data, not_used, vs.derived());
122  }
123 
124  template<typename ConfigVectorType, typename TangentVectorType>
125  void calc(
126  JointDataDerived & data,
127  const Eigen::MatrixBase<ConfigVectorType> & qs,
128  const Eigen::MatrixBase<TangentVectorType> & vs) const
129  {
130  derived().calc(data, qs.derived(), vs.derived());
131  }
132 
133  template<typename VectorLike, typename Matrix6Like>
134  void calc_aba(
135  JointDataDerived & data,
136  const Eigen::MatrixBase<VectorLike> & armature,
137  const Eigen::MatrixBase<Matrix6Like> & I,
138  const bool update_I = false) const
139  {
140  derived().calc_aba(
141  data, armature.derived(), PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like, I), update_I);
142  }
143 
144  int nv() const
145  {
146  return derived().nv_impl();
147  }
148  int nq() const
149  {
150  return derived().nq_impl();
151  }
152  int nvExtended() const
153  {
154  return derived().nvExtended_impl();
155  }
156 
157  // Default _impl methods are reimplemented by dynamic-size joints.
158  int nv_impl() const
159  {
160  return NV;
161  }
162  int nq_impl() const
163  {
164  return NQ;
165  }
166  int nvExtended_impl() const
167  {
168  return NVExtended;
169  }
170 
171  int idx_q() const
172  {
173  return derived().idx_q_impl();
174  }
175  int idx_v() const
176  {
177  return derived().idx_v_impl();
178  }
179  int idx_vExtended() const
180  {
181  return derived().idx_vExtended_impl();
182  }
183  JointIndex id() const
184  {
185  return derived().id_impl();
186  }
187 
188  int idx_q_impl() const
189  {
190  return i_q;
191  }
192  int idx_v_impl() const
193  {
194  return i_v;
195  }
196  int idx_vExtended_impl() const
197  {
198  return i_vExtended;
199  }
200  JointIndex id_impl() const
201  {
202  return i_id;
203  }
204 
205  void setIndexes(JointIndex id, int q, int v)
206  {
207  derived().setIndexes_impl(id, q, v, v);
208  }
209 
210  void setIndexes(JointIndex id, int q, int v, int vExtended)
211  {
212  derived().setIndexes_impl(id, q, v, vExtended);
213  }
214 
215  void setIndexes_impl(JointIndex id, int q, int v, int vExtended)
216  {
217  i_id = id, i_q = q;
218  i_v = v;
219  i_vExtended = vExtended;
220  }
221 
222  void disp(std::ostream & os) const
223  {
224  using namespace std;
225  os << shortname() << endl
226  << " index: " << id() << endl
227  << " index q: " << idx_q() << endl
228  << " index v: " << idx_v() << endl
229  << " index vExtended: " << idx_vExtended() << endl
230  << " nq: " << nq() << endl
231  << " nv: " << nv() << endl
232  << " nvExtended: " << nvExtended() << endl;
233  }
234 
235  friend std::ostream & operator<<(std::ostream & os, const JointModelBase<Derived> & jmodel)
236  {
237  jmodel.derived().disp(os);
238  return os;
239  }
240 
241  std::string shortname() const
242  {
243  return derived().shortname();
244  }
245  static std::string classname()
246  {
247  return Derived::classname();
248  }
249 
250  template<typename NewScalar>
251  typename CastType<NewScalar, Derived>::type cast() const
252  {
253  return derived().template cast<NewScalar>();
254  }
255 
256  template<class OtherDerived>
257  bool operator==(const JointModelBase<OtherDerived> & other) const
258  {
259  return derived().isEqual(other.derived());
260  }
261 
262  template<class OtherDerived>
263  bool operator!=(const JointModelBase<OtherDerived> & other) const
264  {
265  return !(internal::comparison_eq(derived(), other.derived()));
266  }
267 
268  template<class OtherDerived>
269  bool isEqual(const JointModelBase<OtherDerived> &) const
270  {
271  return false;
272  }
273 
274  bool isEqual(const JointModelBase<Derived> & other) const
275  {
276  return derived().hasSameIndexes(other.derived());
277  }
278 
279  template<class OtherDerived>
280  bool hasSameIndexes(const JointModelBase<OtherDerived> & other) const
281  {
282  return internal::comparison_eq(other.id(), id())
283  && internal::comparison_eq(other.idx_q(), idx_q())
284  && internal::comparison_eq(other.idx_v(), idx_v())
285  && internal::comparison_eq(other.idx_vExtended(), idx_vExtended());
286  }
287 
288  /* Acces to dedicated segment in robot config space. */
289  // Const access
290  template<typename D>
291  typename SizeDepType<NQ>::template SegmentReturn<D>::ConstType
292  JointMappedConfigSelector(const Eigen::MatrixBase<D> & a) const
293  {
294  return derived().JointMappedConfigSelector_impl(a);
295  }
296 
297  template<typename D>
298  typename SizeDepType<NQ>::template SegmentReturn<D>::ConstType
299  JointMappedConfigSelector_impl(const Eigen::MatrixBase<D> & a) const
300  {
301  return SizeDepType<NQ>::segment(a.derived(), idx_q(), nq());
302  }
303 
304  // Non-const access
305  template<typename D>
306  typename SizeDepType<NQ>::template SegmentReturn<D>::Type
307  JointMappedConfigSelector(Eigen::MatrixBase<D> & a) const
308  {
309  return derived().JointMappedConfigSelector_impl(a);
310  }
311 
312  template<typename D>
313  typename SizeDepType<NQ>::template SegmentReturn<D>::Type
314  JointMappedConfigSelector_impl(Eigen::MatrixBase<D> & a) const
315  {
316  return SizeDepType<NQ>::segment(a, idx_q(), nq());
317  }
318 
319  // Const access
320  template<typename D>
321  typename SizeDepType<NQ>::template SegmentReturn<D>::ConstType
322  jointConfigSelector(const Eigen::MatrixBase<D> & a) const
323  {
324  return derived().jointConfigSelector_impl(a);
325  }
326 
327  template<typename D>
328  typename SizeDepType<NQ>::template SegmentReturn<D>::ConstType
329  jointConfigSelector_impl(const Eigen::MatrixBase<D> & a) const
330  {
331  return SizeDepType<NQ>::segment(a.derived(), idx_q(), nq());
332  }
333 
334  // Non-const access
335  template<typename D>
336  typename SizeDepType<NQ>::template SegmentReturn<D>::Type
337  jointConfigSelector(Eigen::MatrixBase<D> & a) const
338  {
339  return derived().jointConfigSelector_impl(a);
340  }
341 
342  template<typename D>
343  typename SizeDepType<NQ>::template SegmentReturn<D>::Type
344  jointConfigSelector_impl(Eigen::MatrixBase<D> & a) const
345  {
346  return SizeDepType<NQ>::segment(a, idx_q(), nq());
347  }
348 
349  /* Acces to dedicated segment in robot config velocity space. */
350  // Const access
351  template<typename D>
352  typename SizeDepType<NV>::template SegmentReturn<D>::ConstType
353  JointMappedVelocitySelector(const Eigen::MatrixBase<D> & a) const
354  {
355  return derived().JointMappedVelocitySelector_impl(a.derived());
356  }
357 
358  template<typename D>
359  typename SizeDepType<NV>::template SegmentReturn<D>::ConstType
360  JointMappedVelocitySelector_impl(const Eigen::MatrixBase<D> & a) const
361  {
362  return SizeDepType<NV>::segment(a.derived(), idx_v(), nvExtended());
363  }
364 
365  // Non-const access
366  template<typename D>
367  typename SizeDepType<NV>::template SegmentReturn<D>::Type
368  JointMappedVelocitySelector(Eigen::MatrixBase<D> & a) const
369  {
370  return derived().JointMappedVelocitySelector_impl(a.derived());
371  }
372 
373  template<typename D>
374  typename SizeDepType<NV>::template SegmentReturn<D>::Type
375  JointMappedVelocitySelector_impl(Eigen::MatrixBase<D> & a) const
376  {
377  return SizeDepType<NV>::segment(a.derived(), idx_v(), nvExtended());
378  }
379 
380  // Const access
381  template<typename D>
382  typename SizeDepType<NV>::template SegmentReturn<D>::ConstType
383  jointVelocitySelector(const Eigen::MatrixBase<D> & a) const
384  {
385  return derived().jointVelocitySelector_impl(a.derived());
386  }
387 
388  template<typename D>
389  typename SizeDepType<NV>::template SegmentReturn<D>::ConstType
390  jointVelocitySelector_impl(const Eigen::MatrixBase<D> & a) const
391  {
392  return SizeDepType<NV>::segment(a.derived(), idx_v(), nv());
393  }
394 
395  // Non-const access
396  template<typename D>
397  typename SizeDepType<NV>::template SegmentReturn<D>::Type
398  jointVelocitySelector(Eigen::MatrixBase<D> & a) const
399  {
400  return derived().jointVelocitySelector_impl(a.derived());
401  }
402 
403  template<typename D>
404  typename SizeDepType<NV>::template SegmentReturn<D>::Type
405  jointVelocitySelector_impl(Eigen::MatrixBase<D> & a) const
406  {
407  return SizeDepType<NV>::segment(a.derived(), idx_v(), nv());
408  }
409 
410  /* Acces to dedicated columns in a ForceSet or MotionSet matrix.*/
411  // Const access
412  template<typename D>
413  typename SizeDepType<NV>::template ColsReturn<D>::ConstType
414  jointCols(const Eigen::MatrixBase<D> & A) const
415  {
416  return derived().jointCols_impl(A.derived());
417  }
418 
419  template<typename D>
420  typename SizeDepType<NVExtended>::template ColsReturn<D>::ConstType
421  jointExtendedModelCols(const Eigen::MatrixBase<D> & A) const
422  {
423  return derived().jointExtendedModelCols_impl(A.derived());
424  }
425 
426  template<typename D>
427  typename SizeDepType<NV>::template ColsReturn<D>::ConstType
428  jointCols_impl(const Eigen::MatrixBase<D> & A) const
429  {
430  return SizeDepType<NV>::middleCols(A.derived(), idx_v(), nv());
431  }
432 
433  template<typename D>
434  typename SizeDepType<NVExtended>::template ColsReturn<D>::ConstType
435  jointExtendedModelCols_impl(const Eigen::MatrixBase<D> & A) const
436  {
437  return SizeDepType<NVExtended>::middleCols(A.derived(), idx_vExtended(), nvExtended());
438  }
439 
440  // Non-const access
441  // TODO rename Jac/Vel into Full/Red (for full system and reduced system ?)
442  template<typename D>
443  typename SizeDepType<NV>::template ColsReturn<D>::Type jointCols(Eigen::MatrixBase<D> & A) const
444  {
445  return derived().jointCols_impl(A.derived());
446  }
447 
448  template<typename D>
449  typename SizeDepType<NVExtended>::template ColsReturn<D>::Type
450  jointExtendedModelCols(Eigen::MatrixBase<D> & A) const
451  {
452  return derived().jointExtendedModelCols_impl(A.derived());
453  }
454 
455  template<typename D>
456  typename SizeDepType<NV>::template ColsReturn<D>::Type
457  jointCols_impl(Eigen::MatrixBase<D> & A) const
458  {
459  return SizeDepType<NV>::middleCols(A.derived(), idx_v(), nv());
460  }
461 
462  template<typename D>
463  typename SizeDepType<NVExtended>::template ColsReturn<D>::Type
464  jointExtendedModelCols_impl(Eigen::MatrixBase<D> & A) const
465  {
466  return SizeDepType<NVExtended>::middleCols(A.derived(), idx_vExtended(), nvExtended());
467  }
468 
469  /* Acces to dedicated rows in a matrix.*/
470  // Const access
471  template<typename D>
472  typename SizeDepType<NV>::template RowsReturn<D>::ConstType
473  jointRows(const Eigen::MatrixBase<D> & A) const
474  {
475  return derived().jointRows_impl(A.derived());
476  }
477 
478  template<typename D>
479  typename SizeDepType<NVExtended>::template RowsReturn<D>::ConstType
480  jointExtendedModelRows(const Eigen::MatrixBase<D> & A) const
481  {
482  return derived().jointExtendedModelRows_impl(A.derived());
483  }
484 
485  template<typename D>
486  typename SizeDepType<NV>::template RowsReturn<D>::ConstType
487  jointRows_impl(const Eigen::MatrixBase<D> & A) const
488  {
489  return SizeDepType<NV>::middleRows(A.derived(), idx_v(), nv());
490  }
491 
492  template<typename D>
493  typename SizeDepType<NVExtended>::template RowsReturn<D>::ConstType
494  jointExtendedModelRows_impl(const Eigen::MatrixBase<D> & A) const
495  {
496  return SizeDepType<NVExtended>::middleRows(A.derived(), idx_vExtended(), nvExtended());
497  }
498 
499  // Non-const access
500  template<typename D>
501  typename SizeDepType<NV>::template RowsReturn<D>::Type jointRows(Eigen::MatrixBase<D> & A) const
502  {
503  return derived().jointRows_impl(A.derived());
504  }
505 
506  template<typename D>
507  typename SizeDepType<NVExtended>::template RowsReturn<D>::Type
508  jointExtendedModelRows(Eigen::MatrixBase<D> & A) const
509  {
510  return derived().jointExtendedModelRows_impl(A.derived());
511  }
512 
513  template<typename D>
514  typename SizeDepType<NV>::template RowsReturn<D>::Type
515  jointRows_impl(Eigen::MatrixBase<D> & A) const
516  {
517  return SizeDepType<NV>::middleRows(A.derived(), idx_v(), nv());
518  }
519 
520  template<typename D>
521  typename SizeDepType<NVExtended>::template RowsReturn<D>::Type
522  jointExtendedModelRows_impl(Eigen::MatrixBase<D> & A) const
523  {
524  return SizeDepType<NVExtended>::middleRows(A.derived(), idx_vExtended(), nvExtended());
525  }
526 
529  // Const access
530  template<typename D>
531  typename SizeDepType<NV>::template BlockReturn<D>::ConstType
532  jointBlock(const Eigen::MatrixBase<D> & Mat) const
533  {
534  return derived().jointBlock_impl(Mat.derived());
535  }
536 
537  template<typename D>
538  typename SizeDepType<NVExtended>::template BlockReturn<D>::ConstType
539  jointExtendedModelBlock(const Eigen::MatrixBase<D> & Mat) const
540  {
541  return derived().jointExtendedModelBlock_impl(Mat.derived());
542  }
543 
544  template<typename D>
545  typename SizeDepType<NV>::template BlockReturn<D>::ConstType
546  jointBlock_impl(const Eigen::MatrixBase<D> & Mat) const
547  {
548  return SizeDepType<NV>::block(Mat.derived(), idx_v(), idx_v(), nv(), nv());
549  }
550 
551  template<typename D>
552  typename SizeDepType<NVExtended>::template BlockReturn<D>::ConstType
553  jointExtendedModelBlock_impl(const Eigen::MatrixBase<D> & Mat) const
554  {
555  return SizeDepType<NVExtended>::block(
556  Mat.derived(), idx_vExtended(), idx_vExtended(), nvExtended(), nvExtended());
557  }
558 
559  // Non-const access
560  template<typename D>
561  typename SizeDepType<NV>::template BlockReturn<D>::Type
562  jointBlock(Eigen::MatrixBase<D> & Mat) const
563  {
564  return derived().jointBlock_impl(Mat.derived());
565  }
566 
567  template<typename D>
568  typename SizeDepType<NVExtended>::template BlockReturn<D>::Type
569  jointExtendedModelBlock(Eigen::MatrixBase<D> & Mat) const
570  {
571  return derived().jointExtendedModelBlock_impl(Mat.derived());
572  }
573 
574  template<typename D>
575  typename SizeDepType<NV>::template BlockReturn<D>::Type
576  jointBlock_impl(Eigen::MatrixBase<D> & Mat) const
577  {
578  return SizeDepType<NV>::block(Mat.derived(), idx_v(), idx_v(), nv(), nv());
579  }
580 
581  template<typename D>
582  typename SizeDepType<NVExtended>::template BlockReturn<D>::Type
583  jointExtendedModelBlock_impl(Eigen::MatrixBase<D> & Mat) const
584  {
585  return SizeDepType<NVExtended>::block(
586  Mat.derived(), idx_vExtended(), idx_vExtended(), nvExtended(), nvExtended());
587  }
588 
589  protected:
593  inline JointModelBase()
594  : i_id(std::numeric_limits<JointIndex>::max())
595  , i_q(-1)
596  , i_v(-1)
597  , i_vExtended(-1)
598  {
599  }
600 
605  inline JointModelBase(const JointModelBase & clone)
606  {
607  *this = clone;
608  }
609 
614  inline JointModelBase & operator=(const JointModelBase & clone)
615  {
616  i_id = clone.i_id;
617  i_q = clone.i_q;
618  i_v = clone.i_v;
619  i_vExtended = clone.i_vExtended;
620  return *this;
621  }
622 
623  // data
624  JointIndex i_id; // ID of the joint in the multibody list.
625  int i_q; // Index of the joint configuration in the joint configuration vector.
626  int i_v; // Index of the joint velocity in the joint velocity vector.
627  int i_vExtended; // Index of the joint jacobian in the joint jacobian matrix.
628 
629  }; // struct JointModelBase
630 
631 } // namespace pinocchio
632 
633 #endif // ifndef __pinocchio_multibody_joint_model_base_hpp__
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:11
pinocchio::id
JointIndex id(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain.
pinocchio::nvExtended
int nvExtended(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvExtendVisitor to get the dimension of the joint extended tangent...
pinocchio::idx_vExtended
int idx_vExtended(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdvExtendedVisitor to get the index in the model extended tangent ...
pinocchio::idx_v
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the model tangent space correspond...
pinocchio::nv
int nv(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space.
pinocchio::nq
int nq(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space.
pinocchio::shortname
std::string shortname(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model.
pinocchio::idx_q
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
pinocchio::Blank
Blank type.
Definition: fwd.hpp:77
pinocchio::CastType
Type of the cast of a class C templated by Scalar and Options, to a new NewScalar type....
Definition: fwd.hpp:99
pinocchio::JointModelBase::JointModelBase
JointModelBase(const JointModelBase &clone)
Definition: joint-model-base.hpp:605
pinocchio::JointModelBase::jointBlock
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.
Definition: joint-model-base.hpp:532
pinocchio::JointModelBase::operator=
JointModelBase & operator=(const JointModelBase &clone)
Definition: joint-model-base.hpp:614
pinocchio::traits
Common traits structure to fully define base classes for CRTP.
Definition: fwd.hpp:72