pinocchio  3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Types | Public Member Functions | List of all members
ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > Struct Template Reference
Inheritance diagram for ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl >:
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Collaboration diagram for ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl >:
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Public Types

enum  { Options = _Options }
 
typedef ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > > Base
 
typedef ConstraintCollectionTpl< Scalar, Options > ConstraintCollection
 
typedef ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl > ConstraintData
 
typedef ConstraintCollection::ConstraintDataVariant ConstraintDataVariant
 
typedef ConstraintCollection::ConstraintModelVariant ConstraintModelVariant
 
typedef _Scalar Scalar
 
- Public Types inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
enum  
 
typedef Eigen::Matrix< bool, Eigen::Dynamic, 1, Options > BooleanVector
 
typedef traits< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >::ConstraintData ConstraintData
 
typedef std::vector< Eigen::DenseIndex > IndexVector
 
typedef traits< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >::Scalar Scalar
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

template<typename ContraintModelDerived >
 ConstraintModelTpl (const ConstraintModelBase< ContraintModelDerived > &cmodel)
 
 ConstraintModelTpl (const ConstraintModelVariant &cmodel_variant)
 
ConstraintData createData () const
 
- Public Member Functions inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
void calc (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata) const
 Evaluate the constraint values at the current state given by data and store the results in cdata.
 
CastType< NewScalar, ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >::type cast () const
 
ConstraintData createData () const
 
ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > & derived ()
 
const ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > & derived () const
 
void jacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata, const Eigen::MatrixBase< JacobianMatrix > &jacobian_matrix) const
 
ConstraintModelBase & operator= (const ConstraintModelBase< OtherDerived > &other)
 
bool operator== (const ConstraintModelBase< OtherDerived > &other) const
 

Additional Inherited Members

- Public Attributes inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
IndexVector colwise_span_indexes
 Indexes of the columns spanned by the constraints.
 
BooleanVector colwise_sparsity
 Sparsity pattern associated to the constraint;.
 
std::string name
 Name of the constraint.
 
- Protected Member Functions inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
 ConstraintModelBase ()
 Default constructor.
 
 ConstraintModelBase (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
 
ConstraintModelBase & base ()
 
const ConstraintModelBase & base () const
 

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>
struct pinocchio::ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl >

Definition at line 36 of file constraint-model-generic.hpp.

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