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 | List of all members
JointModelSphericalTpl< _Scalar, _Options > Struct Template Reference
Joint

Public Types

typedef JointModelBase< JointModelSphericalTpl > Base
 
typedef JointSphericalTpl< _Scalar, _Options > JointDerived
 

Public Member Functions

template<typename ConfigVector >
EIGEN_DONT_INLINE void calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs) const
 
template<typename ConfigVector , typename TangentVector >
void calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const
 
template<typename ConfigVector >
EIGEN_DONT_INLINE void calc (JointDataDerived &data, const typename Eigen::PlainObjectBase< ConfigVector > &qs) const
 
template<typename QuaternionDerived >
void calc (JointDataDerived &data, const typename Eigen::QuaternionBase< QuaternionDerived > &quat) const
 
template<typename Matrix6Like >
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const
 
template<typename NewScalar >
JointModelSphericalTpl< 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
 

Static Public Member Functions

static std::string classname ()
 

Detailed Description

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

Definition at line 42 of file fwd.hpp.

Member Function Documentation

◆ cast()

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

Definition at line 515 of file joint-spherical.hpp.

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