Collaboration diagram for JointModelBase< Derived >:

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Public Member Functions
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

template<class OtherDerived >
bool	operator== (const JointModelBase< OtherDerived > &other) const

template<class OtherDerived >
bool	isEqual (const JointModelBase< OtherDerived > &) const

bool	isEqual (const JointModelBase< Derived > &other) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const

Static Public Member Functions
static std::string	classname ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::JointDerived	JointDerived

	SE3_JOINT_TYPEDEF_TEMPLATE

JointIndex	i_id

int	i_q

int	i_v

Protected Member Functions
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Friends
std::ostream &	operator<< (std::ostream &os, const JointModelBase< Derived > &joint)

Detailed Description

template<typename Derived>
struct se3::JointModelBase< Derived >

Definition at line 208 of file joint-base.hpp.

Constructor & Destructor Documentation

JointModelBase ( )

inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 345 of file joint-base.hpp.

JointModelBase ( const JointModelBase< Derived > & clone )

inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 351 of file joint-base.hpp.

Member Function Documentation

ConfigVector_t::Scalar finiteDifferenceIncrement ( ) const

inline

Return the resolution of the finite differerence increment according to the Scalar type.

Remarks: Ideally, this function must depend on the value of q

Returns: The finite difference increment.

Definition at line 241 of file joint-base.hpp.

JointModelBase& operator= ( const JointModelBase< Derived > & clone )

inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 357 of file joint-base.hpp.

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

joint-base.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Friends

Detailed Description

template<typename Derived> struct se3::JointModelBase< Derived >

Constructor & Destructor Documentation

Member Function Documentation

template<typename Derived>
struct se3::JointModelBase< Derived >