pinocchio  3.2.0
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
Inheritance diagram for JointModelTpl< _Scalar, _Options, JointCollectionTpl >:
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Collaboration diagram for JointModelTpl< _Scalar, _Options, JointCollectionTpl >:
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Public Types

typedef JointCollectionTpl< Scalar, Options > JointCollection
 
typedef JointCollection::JointDataVariant JointDataVariant
 
typedef JointTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
 
typedef JointCollection::JointModelVariant JointModelVariant
 
- Public Types inherited from JointModelBase< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived JointDerived
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

template<typename JointModelDerived >
 JointModelTpl (const JointModelBase< JointModelDerived > &jmodel)
 
 JointModelTpl (const JointModelVariant &jmodel_variant)
 
template<typename TangentVector >
void calc (JointDataDerived &data, const Blank blank, const Eigen::MatrixBase< TangentVector > &v) const
 
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 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 >
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
 
- Public Member Functions inherited from JointModelBase< JointModelTpl< _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, JointModelTpl< _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
 
bool isEqual (const JointModelBase< JointModelTpl< _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< 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< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string classname ()
 

Additional Inherited Members

- Protected Member Functions inherited from JointModelBase< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >
 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBase & operator= (const JointModelBase &clone)
 
- Protected Attributes inherited from JointModelBase< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >
JointIndex i_id
 
int i_q
 
int i_v
 

Detailed Description

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

Definition at line 260 of file joint-generic.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 422 of file joint-generic.hpp.

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