Free-flyer joint in \(SE(3)\). More...

#include <pinocchio/multibody/joint/joint-free-flyer.hpp>

Inheritance diagram for JointModelFreeFlyerTpl< _Scalar, _Options >:

Collaboration diagram for JointModelFreeFlyerTpl< _Scalar, _Options >:

Public Types
typedef JointModelBase< JointModelFreeFlyerTpl >	Base

typedef JointFreeFlyerTpl< _Scalar, _Options >	JointDerived

Public Types inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
typedef traits< JointModelFreeFlyerTpl< _Scalar, _Options > >::JointDerived	JointDerived

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

Public Member Functions
template<typename TangentVector >
EIGEN_DONT_INLINE void	calc (JointDataDerived &data, const Blank, const typename Eigen::MatrixBase< TangentVector > &vs) const

template<typename ConfigVector >
EIGEN_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs) const

template<typename ConfigVector , typename TangentVector >
EIGEN_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const

template<typename Vector3Derived , typename QuaternionDerived >
EIGEN_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< Vector3Derived > &trans, const typename Eigen::QuaternionBase< QuaternionDerived > &quat) 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) const

template<typename NewScalar >
JointModelFreeFlyerTpl< NewScalar, Options >	cast () const

JointDataDerived	createData () const

template<typename ConfigVectorLike >
void	forwardKinematics (Transformation_t &M, const Eigen::MatrixBase< ConfigVectorLike > &q_joint) const

const std::vector< bool >	hasConfigurationLimit () const

const std::vector< bool >	hasConfigurationLimitInTangent () const

JointIndex	id () const

int	idx_q () const

int	idx_v () const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

void	setIndexes (JointIndex id, int q, int v)

std::string	shortname () const

Public Member Functions inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
void	calc (JointDataDerived &data, const Blank not_used, const Eigen::MatrixBase< TangentVectorType > &vs) const

void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const

void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const

void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I=false) const

CastType< NewScalar, JointModelFreeFlyerTpl< _Scalar, _Options > >::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

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< JointModelFreeFlyerTpl< _Scalar, _Options > > &other) const

bool	isEqual (const JointModelBase< OtherDerived > &) const

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.

SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock (Eigen::MatrixBase< D > &Mat) const

SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const

SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock_impl (Eigen::MatrixBase< D > &Mat) const

SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template ColsReturn< D >::Type	jointCols (Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const

SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const

SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector (Eigen::MatrixBase< D > &a) const

SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const

SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template RowsReturn< D >::Type	jointRows (Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows_impl (const Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template RowsReturn< D >::Type	jointRows_impl (Eigen::MatrixBase< D > &A) const

SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const

SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector (Eigen::MatrixBase< D > &a) const

SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

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

bool	operator!= (const JointModelBase< OtherDerived > &other) const

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 ()

Static Public Member Functions inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
static std::string	classname ()

Additional Inherited Members
Protected Member Functions inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
JointIndex	i_id

int	i_q

int	i_v

Detailed Description

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

Free-flyer joint in \(SE(3)\).

A free-flyer joint adds seven coordinates to the configuration space. Given a configuration vector q:

q[idx_q:idx_q + 3] are the translation coordinates, in meters, representing the position of the child frame in the parent frame.
q[idx_q + 3:idx_q + 7] is a unit quaternion representing the rotation from the child frame to the parent frame, with quaternion coordinates ordered as (x, y, z, w).

Likewise, a free-flyer joint adds six coordinates to the tangent space. Let's consider a tangent vector v, say, a velocity vector. Following Featherstone's convention, all our tangent vectors are body rather than spatial vectors:

v[idx_v:idx_v + 3] is the linear velocity, in meters / second, corresponding to the linear velocity of the child frame with respect to the parent frame, expressed in the child frame (body linear velocity of the child frame).
v[idx_v + 3:idx_v + 6] is the angular velocity, in radians / second, corresponding to the angular velocity from the child frame to the parent frame, expressed in the child frame (body angular velocity of the child frame).

Definition at line 282 of file joint-free-flyer.hpp.

Member Function Documentation

◆ cast()

JointModelFreeFlyerTpl<NewScalar, Options> cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 401 of file joint-free-flyer.hpp.

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

include/pinocchio/multibody/joint/fwd.hpp
include/pinocchio/multibody/joint/joint-free-flyer.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Function Documentation

◆ cast()

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