pinocchio  UNKNOWN
Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
JointModel Struct Reference
Inheritance diagram for JointModel:
[legend]
Collaboration diagram for JointModel:
[legend]

Public Types

typedef Joint JointDerived
 

Public Member Functions

 JointModel (const JointModelVariant &model_variant)
 
JointModelVariant & toVariant ()
 
const JointModelVariant & toVariant () const
 
JointDataVariant createData ()
 
void calc (JointData &data, const Eigen::VectorXd &q) const
 
void calc (JointData &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v) const
 
void calc_aba (JointData &data, Inertia::Matrix6 &I, const bool update_I) const
 
std::string shortname () const
 
int nq_impl () const
 
int nv_impl () const
 
int idx_q () const
 
int idx_v () const
 
JointIndex id () const
 
void setIndexes (JointIndex id, int nq, int nv)
 
- Public Member Functions inherited from JointModelBase< JointModel >
JointModelDerived & derived ()
 
const JointModelDerived & derived () const
 
JointDataDerived createData () const
 
void calc (JointDataDerived &data, const Eigen::VectorXd &qs) const
 
void calc (JointDataDerived &data, const Eigen::VectorXd &qs, const Eigen::VectorXd &vs) const
 
void calc_aba (JointDataDerived &data, Inertia::Matrix6 &I, const bool update_I=false) const
 
ConfigVector_t::Scalar finiteDifferenceIncrement () const
 Return the resolution of the finite differerence increment according to the Scalar type. More...
 
int nv () const
 
int nq () const
 
int nv_impl () const
 
int nq_impl () const
 
int idx_q () const
 
int idx_v () const
 
JointIndex id () const
 
void setIndexes (JointIndex id, int q, int v)
 
void setIndexes_impl (JointIndex id, int q, int v)
 
void disp (std::ostream &os) const
 
std::string shortname () const
 
bool operator== (const JointModelBase< OtherDerived > &other) const
 
bool isEqual (const JointModelBase< OtherDerived > &) const
 
bool isEqual (const JointModelBase< JointModel > &other) 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 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
 
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
 

Static Public Member Functions

static std::string classname ()
 
- Static Public Member Functions inherited from JointModelBase< JointModel >
static std::string classname ()
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointModelVariant JointModelBoostVariant
 
 SE3_JOINT_TYPEDEF
 
 SE3_JOINT_USE_INDEXES
 
- Public Attributes inherited from JointModelBase< JointModel >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< JointModel >::JointDerived JointDerived
 
 SE3_JOINT_TYPEDEF_TEMPLATE
 
JointIndex i_id
 
int i_q
 
int i_v
 

Additional Inherited Members

- Protected Member Functions inherited from JointModelBase< JointModel >
 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBase & operator= (const JointModelBase &clone)
 

Detailed Description

Definition at line 87 of file joint.hpp.

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