JointAccelerationDerivativesBackwardStep< rf > Struct Template Reference

Inheritance diagram for JointAccelerationDerivativesBackwardStep< rf >:

Collaboration diagram for JointAccelerationDerivativesBackwardStep< rf >:

Public Types
typedef boost::fusion::vector< const se3::Model &, se3::Data &, const Model::JointIndex, Data::Matrix6x &, Data::Matrix6x &, Data::Matrix6x &, Data::Matrix6x & >	ArgsType

Public Member Functions
	JOINT_MODEL_VISITOR_INIT (JointAccelerationDerivativesBackwardStep)
Public Member Functions inherited from JointModelVisitor< JointAccelerationDerivativesBackwardStep< rf > >
void	operator() (const JointModelBase< D > &jmodel) const

Static Public Member Functions
template<typename JointModel >
static void	algo (const se3::JointModelBase< JointModel > &jmodel, const se3::Model &model, se3::Data &data, const Model::JointIndex jointId, Data::Matrix6x &v_partial_dq, Data::Matrix6x &a_partial_dq, Data::Matrix6x &a_partial_dv, Data::Matrix6x &a_partial_da)
Static Public Member Functions inherited from JointModelVisitor< JointAccelerationDerivativesBackwardStep< rf > >
static void	run (const JointModelVariant &jmodel, ArgsTmp args)

Detailed Description

template<ReferenceFrame rf>
struct se3::JointAccelerationDerivativesBackwardStep< rf >

Definition at line 193 of file kinematics-derivatives.hxx.

Member Function Documentation

static void algo ( const se3::JointModelBase< JointModel > &  jmodel, const se3::Model &  model, se3::Data &  data, const Model::JointIndex  jointId, Data::Matrix6x &  v_partial_dq, Data::Matrix6x &  a_partial_dq, Data::Matrix6x &  a_partial_dv, Data::Matrix6x &  a_partial_da  )

inlinestatic

also computes dvec/dq

also computes dvec/dq

Definition at line 208 of file kinematics-derivatives.hxx.

References SE3Base< Derived >::actInv(), Data::dJ, Data::J, Data::oa, Data::oMi, Data::ov, Model::parents, and Data::v.

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

• kinematics-derivatives.hxx