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
JointModelTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference
Joint

Public Types

typedef JointCollectionTpl< Scalar, Options > JointCollection
 
typedef JointCollection::JointDataVariant JointDataVariant
 
typedef JointTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
 
typedef JointCollection::JointModelVariant JointModelVariant
 

Public Member Functions

template<typename JointModelDerived >
 JointModelTpl (const JointModelBase< JointModelDerived > &jmodel)
 
 JointModelTpl (const JointModelVariant &jmodel_variant)
 
template<typename ConfigVector >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVector > &q) const
 
template<typename ConfigVector , typename TangentVector >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< TangentVector > &v) const
 
template<typename Matrix6Like >
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const
 
template<typename NewScalar >
JointModelTpl< NewScalar, Options, JointCollectionTpl > cast () const
 
JointDataDerived createData () const
 
const std::vector< bool > hasConfigurationLimit () const
 
const std::vector< bool > hasConfigurationLimitInTangent () const
 
template<typename JointModelDerived >
bool hasSameIndexes (const JointModelBase< JointModelDerived > &other) const
 
JointIndex id_impl () const
 
int idx_q_impl () const
 
int idx_v_impl () const
 
template<typename JointModelDerived >
bool isEqual (const JointModelBase< JointModelDerived > &other) const
 
bool isEqual (const JointModelTpl &other) const
 
int nq_impl () const
 
int nv_impl () const
 
bool operator!= (const JointModelTpl &other) const
 
bool operator== (const JointModelTpl &other) const
 
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
 
 PINOCCHIO_JOINT_USE_INDEXES (JointModelTpl)
 
void setIndexes (JointIndex id, int nq, int nv)
 
std::string shortname () const
 
JointModelVariant & toVariant ()
 
const JointModelVariant & toVariant () const
 

Static Public Member Functions

static std::string classname ()
 

Detailed Description

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

Definition at line 93 of file fwd.hpp.

Member Function Documentation

◆ cast()

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

Definition at line 274 of file joint-generic.hpp.

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