Inheritance diagram for JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >:

Collaboration diagram for JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >:

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Public Types
enum	{ MaxNVMimicked = traits<JointDerived>::MaxNVMimicked }

typedef JointModelBase< JointModelMimicTpl >	Base

typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointMimicTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModel

typedef MotionTpl< Scalar, Options >	Motion

typedef SE3Tpl< Scalar, Options >	SE3

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

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

Public Member Functions
template<typename JointModel >
	JointModelMimicTpl (const JointModelBase< JointModel > &jmodel, const Scalar &scaling, const Scalar &offset)

template<typename JointModelMimicking , typename JointModelMimicked >
	JointModelMimicTpl (const JointModelBase< JointModelMimicking > &jmodel_mimicking, const JointModelBase< JointModelMimicked > &jmodel_mimicked, const Scalar &scaling, const Scalar &offset)

Base &	base ()

const Base &	base () const

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

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

template<typename VectorLike , typename Matrix6Like >
void	calc_aba (JointDataDerived &, const Eigen::MatrixBase< VectorLike > &, const Eigen::MatrixBase< Matrix6Like > &, const bool) const

template<typename NewScalar >
CastType< NewScalar, JointModelMimicTpl >::type	cast () const

JointDataDerived	createData () const

void	disp (std::ostream &os) const

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

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

JointIndex	id () const

int	idx_q () const

int	idx_v () const

int	idx_vExtended () const

JointModel &	jmodel ()

const JointModel &	jmodel () 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_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	JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

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

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

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	JointMappedVelocitySelector_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

int	nq () const

int	nq_impl () const

int	nv () const

int	nv_impl () const

int	nvExtended () const

int	nvExtended_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 (JointIndex id, int q, int v, int vExtended)

void	setIndexes_impl (JointIndex id, int, int, int vExtended)

void	setMimicIndexes (JointIndex id, int q, int v, int vExtended)
	Specific way for mimic joints to set the mimicked q,v indexes. Used for manipulating tree (e.g. appendModel) More...

std::string	shortname () const

Public Member Functions inherited from JointModelBase< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >
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, JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > >::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

int	idx_vExtended () const

int	idx_vExtended_impl () const

bool	isEqual (const JointModelBase< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > > &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< NVExtended >::template BlockReturn< D >::ConstType	jointExtendedModelBlock (const Eigen::MatrixBase< D > &Mat) const

SizeDepType< NVExtended >::template BlockReturn< D >::Type	jointExtendedModelBlock (Eigen::MatrixBase< D > &Mat) const

SizeDepType< NVExtended >::template BlockReturn< D >::ConstType	jointExtendedModelBlock_impl (const Eigen::MatrixBase< D > &Mat) const

SizeDepType< NVExtended >::template BlockReturn< D >::Type	jointExtendedModelBlock_impl (Eigen::MatrixBase< D > &Mat) const

SizeDepType< NVExtended >::template ColsReturn< D >::ConstType	jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const

SizeDepType< NVExtended >::template ColsReturn< D >::Type	jointExtendedModelCols (Eigen::MatrixBase< D > &A) const

SizeDepType< NVExtended >::template ColsReturn< D >::ConstType	jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const

SizeDepType< NVExtended >::template ColsReturn< D >::Type	jointExtendedModelCols_impl (Eigen::MatrixBase< D > &A) const

SizeDepType< NVExtended >::template RowsReturn< D >::ConstType	jointExtendedModelRows (const Eigen::MatrixBase< D > &A) const

SizeDepType< NVExtended >::template RowsReturn< D >::Type	jointExtendedModelRows (Eigen::MatrixBase< D > &A) const

SizeDepType< NVExtended >::template RowsReturn< D >::ConstType	jointExtendedModelRows_impl (const Eigen::MatrixBase< D > &A) const

SizeDepType< NVExtended >::template RowsReturn< D >::Type	jointExtendedModelRows_impl (Eigen::MatrixBase< D > &A) const

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

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

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

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

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

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

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

SizeDepType< NV >::template SegmentReturn< D >::Type	JointMappedVelocitySelector_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

int	nvExtended () const

int	nvExtended_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 (JointIndex id, int q, int v, int vExtended)

void	setIndexes_impl (JointIndex id, int q, int v, int vExtended)

std::string	shortname () const

Static Public Member Functions
static std::string	classname ()

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

Protected Attributes
JointModel	m_jmodel_mimicking

int	m_nqExtended

int	m_nvExtended

Scalar	m_offset

Scalar	m_scaling

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

int	i_q

int	i_v

int	i_vExtended

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

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
struct pinocchio::JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 557 of file joint-mimic.hpp.

Member Function Documentation

◆ cast()

CastType<NewScalar, JointModelMimicTpl>::type cast ( ) const

inline

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

Definition at line 743 of file joint-mimic.hpp.

◆ setIndexes_impl()

void setIndexes_impl	(	JointIndex	id,
		int	,
		int	,
		int	vExtended
	)

inline

Note: q and v are ignored in the _impl for mimic joint because most algorithms will pass indexes of their current position in the tree, while in this case idx_q and idx_v should remain pointing to the mimicked joint. (See setMimicIndexes)

Definition at line 645 of file joint-mimic.hpp.

◆ setMimicIndexes()

void setMimicIndexes	(	JointIndex	id,
		int	q,
		int	v,
		int	vExtended
	)

inline

Specific way for mimic joints to set the mimicked q,v indexes. Used for manipulating tree (e.g. appendModel)

Parameters

id	Set the mimicking joint id
q	Set the mimic joint idx_q (should point to the mimicked joint)
v	Set the mimic joint idx_v (should point to the mimicked joint)
vExtended	Set the mimicking idx_vExtended

Definition at line 665 of file joint-mimic.hpp.

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

include/pinocchio/multibody/joint/fwd.hpp
include/pinocchio/multibody/joint/joint-mimic.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl> struct pinocchio::JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >

Member Function Documentation

◆ cast()

◆ setIndexes_impl()

◆ setMimicIndexes()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
struct pinocchio::JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >