Public Types | |
typedef JointDataBase< JointDataCompositeTpl > | Base |
typedef JointDataTpl< Scalar, Options, JointCollectionTpl > | JointDataVariant |
typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > | JointDerived |
Public Member Functions | |
JointDataCompositeTpl (const JointDataVector &joint_data, const int, const int nv) | |
typedef | PINOCCHIO_ALIGNED_STD_VECTOR (JointDataVariant) JointDataVector |
PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) iMlast | |
Transforms from previous joint to last joint. | |
PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) pjMi | |
Transforms from previous joint to joint i. | |
PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE (JointDerived) | |
std::string | shortname () const |
Static Public Member Functions | |
static std::string | classname () |
Public Attributes | |
Bias_t | c |
D_t | Dinv |
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl< Scalar, Options > | JointCollection |
JointDataVector | joints |
Vector of joints. | |
Transformation_t | M |
Constraint_t | S |
D_t | StU |
U_t | U |
UD_t | UDinv |
Motion_t | v |