pinocchio  2.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
JointModelMimic< JointModel > Struct Template Reference
Collaboration diagram for JointModelMimic< JointModel >:
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Public Types

typedef JointModelBase< JointModelMimic > Base
 
typedef traits< JointModelMimic >::JointDerived JointDerived
 

Public Member Functions

 JointModelMimic (const JointModelBase< JointModel > &jmodel, const Scalar &scaling, const Scalar &offset)
 
Base & base ()
 
const Base & base () const
 
template<typename ConfigVector >
EIGEN_DONT_INLINE void calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs) const
 
template<typename ConfigVector , typename TangentVector >
EIGEN_DONT_INLINE void calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const
 
template<typename Matrix6Like >
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const
 
template<typename NewScalar >
CastType< NewScalar, JointModelMimic >::type cast () const
 
JointDataDerived createData () const
 
const std::vector< bool > hasConfigurationLimit () const
 
const std::vector< bool > hasConfigurationLimitInTangent () const
 
JointIndex id () const
 
int idx_q () const
 
int idx_q_impl () const
 
int idx_v () const
 
int idx_v_impl () const
 
JointModel & jmodel ()
 
const JointModel & jmodel () const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl (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_impl (Eigen::MatrixBase< D > &Mat) 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_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_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_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
 
Scalar & offset ()
 
const Scalar & offset () const
 
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
 
Scalar & scaling ()
 
const Scalar & scaling () const
 
void setIndexes (JointIndex id, int q, int v)
 
void setIndexes_impl (JointIndex id, int, int)
 
std::string shortname () const
 

Static Public Member Functions

static std::string classname ()
 

Protected Attributes

JointModel m_jmodel_ref
 
Scalar m_offset
 
Scalar m_scaling
 

Detailed Description

template<class JointModel>
struct pinocchio::JointModelMimic< JointModel >

Definition at line 237 of file joint-mimic.hpp.

Member Function Documentation

◆ cast()

CastType<NewScalar,JointModelMimic>::type cast ( ) const
inline
Returns
An expression of *this with the Scalar type casted to NewScalar.

Definition at line 512 of file joint-mimic.hpp.

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