pinocchio  3.5.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Classes | Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Attributes | Friends | List of all members
JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > Struct Template Reference
Inheritance diagram for JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >:
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Collaboration diagram for JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >:
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Classes

struct  Transpose
 

Public Types

enum  { NV = _Dim }
 
typedef JointMotionSubspaceBase< JointMotionSubspaceTpl > Base
 
- Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar Scalar
 

Public Member Functions

template<typename D >
 JointMotionSubspaceTpl (const Eigen::MatrixBase< D > &_S)
 
 JointMotionSubspaceTpl (const int dim)
 
template<int D, int MD>
 JointMotionSubspaceTpl (const JointMotionSubspaceTpl< D, _Scalar, _Options, MD > subspace)
 
template<typename VectorLike >
JointMotion __mult__ (const Eigen::MatrixBase< VectorLike > &vj) const
 
void disp_impl (std::ostream &os) const
 
bool isEqual (const JointMotionSubspaceTpl &other) const
 
MatrixReturnType matrix_impl ()
 
ConstMatrixReturnType matrix_impl () const
 
template<typename MotionDerived >
DenseBase motionAction (const MotionDense< MotionDerived > &v) const
 
int nv () const
 
int nv_impl () const
 
DenseBase se3Action (const SE3Tpl< Scalar, Options > &m) const
 
DenseBase se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const
 
Transpose transpose () const
 
- Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >
int cols () const
 
JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > & derived ()
 
const JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > & 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< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >, MotionDerived >::ReturnType motionAction (const MotionDense< MotionDerived > &v) const
 
int nv () const
 
JointMotion operator* (const Eigen::MatrixBase< VectorLike > &vj) const
 
bool operator== (const JointMotionSubspaceBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > > &other) const
 
SE3GroupAction< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >::ReturnType se3Action (const SE3Tpl< Scalar, Options > &m) const
 
SE3GroupAction< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >::ReturnType se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const
 

Static Public Member Functions

static JointMotionSubspaceTpl Zero (const int dim)
 
- Static Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >
static int rows ()
 

Static Public Attributes

constexpr static int MaxNV = NV < 0 ? _MaxDim : NV
 

Protected Attributes

DenseBase S
 

Friends

class JointMotionSubspaceBase< JointMotionSubspaceTpl >
 
template<typename S2 , int O2>
Eigen::Matrix< _Scalar, 6, _Dim, _Options, 6, _MaxDim > operator* (const Eigen::Matrix< S2, 6, 6, O2 > &Ymatrix, const JointMotionSubspaceTpl &S)
 
template<typename S2 , int O2>
JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >::DenseBase operator* (const InertiaTpl< S2, O2 > &Y, const JointMotionSubspaceTpl &S)
 

Detailed Description

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>
struct pinocchio::JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >

Definition at line 65 of file joint-motion-subspace-generic.hpp.

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