pinocchio  2.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Classes | Public Types | Public Member Functions | Protected Attributes | List of all members
ConstraintSphericalZYXTpl< _Scalar, _Options > Struct Template Reference

Classes

struct  ConstraintTranspose
 

Public Types

enum  { NV = 3 }
 
typedef Eigen::Matrix< Scalar, 3, 3, Options > Matrix3
 

Public Member Functions

template<typename Matrix3Like >
 ConstraintSphericalZYXTpl (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 ConstraintSphericalZYXTpl &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
 

Protected Attributes

Matrix3 m_S
 

Detailed Description

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

Definition at line 20 of file joint-spherical-ZYX.hpp.

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