pinocchio  3.2.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
JointModelBase< Derived > Struct Template Reference
Inheritance diagram for JointModelBase< Derived >:
Inheritance graph
[legend]
Collaboration diagram for JointModelBase< Derived >:
Collaboration graph
[legend]

Public Types

typedef traits< Derived >::JointDerived JointDerived
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

template<typename TangentVectorType >
void calc (JointDataDerived &data, const Blank not_used, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
template<typename ConfigVectorType >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
 
template<typename ConfigVectorType , typename TangentVectorType >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
template<typename VectorLike , typename Matrix6Like >
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I=false) const
 
template<typename NewScalar >
CastType< NewScalar, Derived >::type cast () const
 
JointDataDerived createData () const
 
JointModelDerived & derived ()
 
const JointModelDerived & derived () const
 
void disp (std::ostream &os) const
 
const std::vector< bool > hasConfigurationLimit () const
 
const std::vector< bool > hasConfigurationLimitInTangent () const
 
template<class OtherDerived >
bool hasSameIndexes (const JointModelBase< OtherDerived > &other) const
 
JointIndex id () const
 
JointIndex id_impl () const
 
int idx_q () const
 
int idx_q_impl () const
 
int idx_v () const
 
int idx_v_impl () const
 
bool isEqual (const JointModelBase< Derived > &other) const
 
template<class OtherDerived >
bool isEqual (const JointModelBase< OtherDerived > &) const
 
template<typename D >
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.
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock_impl (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
 
int nq () const
 
int nq_impl () const
 
int nv () const
 
int nv_impl () const
 
template<class OtherDerived >
bool operator!= (const JointModelBase< OtherDerived > &other) const
 
template<class OtherDerived >
bool operator== (const JointModelBase< OtherDerived > &other) const
 
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
 
void setIndexes (JointIndex id, int q, int v)
 
void setIndexes_impl (JointIndex id, int q, int v)
 
std::string shortname () const
 

Static Public Member Functions

static std::string classname ()
 

Protected Member Functions

 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBase & operator= (const JointModelBase &clone)
 

Protected Attributes

JointIndex i_id
 
int i_q
 
int i_v
 

Friends

std::ostream & operator<< (std::ostream &os, const JointModelBase< Derived > &joint)
 

Detailed Description

template<typename Derived>
struct pinocchio::JointModelBase< Derived >

Definition at line 75 of file joint-model-base.hpp.

Constructor & Destructor Documentation

◆ JointModelBase() [1/2]

JointModelBase ( )
inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 418 of file joint-model-base.hpp.

◆ JointModelBase() [2/2]

JointModelBase ( const JointModelBase< Derived > &  clone)
inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 429 of file joint-model-base.hpp.

Member Function Documentation

◆ operator=()

JointModelBase& operator= ( const JointModelBase< Derived > &  clone)
inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 438 of file joint-model-base.hpp.

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