pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Classes | Public Types | Public Member Functions | Protected Attributes | List of all members
JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > Struct Template Reference
Inheritance diagram for JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >:
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Collaboration diagram for JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >:
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Classes

struct  ConstraintTranspose
 

Public Types

enum  { NV = 3 }
 
typedef Eigen::Matrix< Scalar, 3, 3, Options > Matrix3
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

template<typename Matrix3Like >
 JointMotionSubspaceSphericalZYXTpl (const Eigen::MatrixBase< Matrix3Like > &subspace)
 
template<typename Vector3Like >
JointMotion __mult__ (const Eigen::MatrixBase< Vector3Like > &v) const
 
Matrix3 & angularSubspace ()
 
const Matrix3 & angularSubspace () const
 
bool isEqual (const JointMotionSubspaceSphericalZYXTpl &other) const
 
DenseBase matrix_impl () const
 
template<typename MotionDerived >
DenseBase motionAction (const MotionDense< MotionDerived > &m) const
 
int nv_impl () const
 
Matrix3 & operator() ()
 
const Matrix3 & operator() () const
 
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options > se3Action (const SE3Tpl< S1, O1 > &m) const
 
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options > se3ActionInverse (const SE3Tpl< S1, O1 > &m) const
 
ConstraintTranspose transpose () const
 
- Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
int cols () const
 
JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > & derived ()
 
const JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > & derived () const
 
void disp (std::ostream &os) const
 
bool isApprox (const JointMotionSubspaceBase< OtherDerived > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
MatrixReturnType matrix ()
 
ConstMatrixReturnType matrix () const
 
MotionAlgebraAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >, MotionDerived >::ReturnType motionAction (const MotionDense< MotionDerived > &v) const
 
int nv () const
 
JointMotion operator* (const Eigen::MatrixBase< VectorLike > &vj) const
 
bool operator== (const JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > > &other) const
 
SE3GroupAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >::ReturnType se3Action (const SE3Tpl< Scalar, Options > &m) const
 
SE3GroupAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >::ReturnType se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const
 

Protected Attributes

Matrix3 m_S
 

Additional Inherited Members

- Static Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
static int rows ()
 

Detailed Description

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

Definition at line 50 of file joint-spherical-ZYX.hpp.

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