Inheritance diagram for JointModelComposite:

Collaboration diagram for JointModelComposite:

Public Types
enum	{ NV = traits<JointComposite>::NV, NQ = traits<JointComposite>::NQ }

typedef traits< JointComposite >::Scalar	Scalar

typedef JointModelBase< JointModelComposite >	Base

typedef JointDataComposite	JointData

typedef container::aligned_vector< JointModelVariant >	JointModelVector

typedef traits< JointComposite >::Transformation_t	Transformation_t

typedef traits< JointComposite >::Constraint_t	Constraint_t

typedef traits< JointComposite >::ConfigVector_t	ConfigVector_t

typedef traits< JointComposite >::TangentVector_t	TangentVector_t

Public Member Functions
	JointModelComposite ()
	Empty contructor.

template<typename JointModel >
	JointModelComposite (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
	Default constructor with at least one joint. More...

	JointModelComposite (const JointModelComposite &other)
	Copy constructor. More...

template<typename JointModel >
void	addJoint (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
	Add a joint to the composition of joints. More...

JointData	createData () const

void	calc (JointData &data, const Eigen::VectorXd &qs) const

void	calc (JointData &data, const Eigen::VectorXd &qs, const Eigen::VectorXd &vs) const

void	calc_aba (JointData &data, Inertia::Matrix6 &I, const bool update_I) const

Scalar	finiteDifferenceIncrement () const

int	nv_impl () const

int	nq_impl () const

void	setIndexes_impl (JointIndex id, int q, int v)
	Update the indexes of subjoints in the stack.

std::string	shortname () const

JointModelComposite &	operator= (const JointModelComposite &other)

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (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< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (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 ColsReturn< D >::ConstType	jointCols (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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

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

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

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

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

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

Public Member Functions inherited from JointModelBase< JointModelComposite >
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< JointModelComposite > &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< JointModelComposite >
static std::string	classname ()

Public Attributes
JointModelVector	joints
	Vector of joints contained in the joint composite.

container::aligned_vector< SE3 >	jointPlacements
	Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent.

int	m_nq
	Dimensions of the config and tangent space of the composite joint.

int	m_nv

Public Attributes inherited from JointModelBase< JointModelComposite >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< JointModelComposite >::JointDerived	JointDerived

	SE3_JOINT_TYPEDEF_TEMPLATE

JointIndex	i_id

int	i_q

int	i_v

Protected Member Functions
void	updateJointIndexes ()
	Update the indexes of the joints contained in the composition according to the position of the joint composite.

Protected Member Functions inherited from JointModelBase< JointModelComposite >
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes
std::vector< int >	m_idx_q
	Keep information of both the dimension and the position of the joints in the composition. More...

std::vector< int >	m_nqs
	Dimension of the segment in the config vector.

std::vector< int >	m_idx_v
	Index in the tangent vector.

std::vector< int >	m_nvs
	Dimension of the segment in the tangent vector.

Friends
struct	JointCompositeCalcZeroOrderStep

struct	JointCompositeCalcFirstOrderStep

Detailed Description

Definition at line 110 of file joint-composite.hpp.

Constructor & Destructor Documentation

JointModelComposite	(	const JointModelBase< JointModel > &	jmodel,
		const SE3 &	placement = `SE3::Identity()`
	)

inline

Default constructor with at least one joint.

Parameters

jmodel	Model of the first joint.
placement	Placement of the first joint wrt the joint origin

Definition at line 152 of file joint-composite.hpp.

JointModelComposite ( const JointModelComposite & other )

inline

Copy constructor.

Parameters

other Model to copy.

Definition at line 166 of file joint-composite.hpp.

Member Function Documentation

void addJoint	(	const JointModelBase< JointModel > &	jmodel,
		const SE3 &	placement = `SE3::Identity()`
	)

inline

Add a joint to the composition of joints.

Parameters

jmodel	Model of the joint to add.
placement	Placement of the joint relatively to its predecessor

Definition at line 184 of file joint-composite.hpp.

References se3::calc_aba(), se3::createData(), se3::finiteDifferenceIncrement(), se3::nq(), and se3::nv().

Member Data Documentation

std::vector<int> m_idx_q

protected

Keep information of both the dimension and the position of the joints in the composition.

Index in the config vector

Definition at line 337 of file joint-composite.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation