hpp::constraints::PointInJoint Class Reference

Basic expression representing a point in a joint frame. More...

#include <hpp/constraints/symbolic-calculus.hh>

Inheritance diagram for hpp::constraints::PointInJoint:
[legend]
Collaboration diagram for hpp::constraints::PointInJoint:
[legend]

Public Types

typedef CalculusBase< PointInJointParent_t
 
- Public Types inherited from hpp::constraints::CalculusBaseAbstract< vector3_t, JacobianMatrix >
typedef vector3_t ValueType_t
 
typedef JacobianMatrix JacobianType_t
 

Public Member Functions

 PointInJoint ()
 
 PointInJoint (const CalculusBase< PointInJoint > &other)
 
 PointInJoint (const PointInJoint &pointInJoint)
 
 PointInJoint (const JointPtr_t &joint, const vector3_t &pointInLocalFrame)
 
 PointInJoint (const JointPtr_t &joint, const vector3_t &pointInLocalFrame, size_type nbDof)
 
const JointPtr_tjoint () const
 
const vector3_tlocal () const
 
void impl_value (const ConfigurationIn_t)
 
void impl_jacobian (const ConfigurationIn_t)
 
void computeCrossRXl ()
 
- Public Member Functions inherited from hpp::constraints::CalculusBase< PointInJoint >
 CalculusBase ()
 
 CalculusBase (const vector3_t &value, const JacobianMatrix &jacobian)
 
 CalculusBase (const CalculusBase &o)
 
const vector3_tvalue () const
 
const JacobianMatrixjacobian () const
 
void computeValue (const ConfigurationIn_t arg)
 
void computeJacobian (const ConfigurationIn_t arg)
 
void invalidate ()
 
const CrossMatrixcross () const
 
void computeCrossValue (const ConfigurationIn_t arg)
 

Protected Attributes

JointPtr_t joint_
 
vector3_t local_
 
bool center_
 
- Protected Attributes inherited from hpp::constraints::CalculusBase< PointInJoint >
vector3_t value_
 
JacobianMatrix jacobian_
 
CrossMatrix cross_
 
bool vValid_
 
bool jValid_
 
bool cValid_
 

Additional Inherited Members

- Protected Member Functions inherited from hpp::constraints::CalculusBase< PointInJoint >
void init (const typename Traits< PointInJoint >::Ptr_t &ptr)
 

Detailed Description

Basic expression representing a point in a joint frame.

Member Typedef Documentation

Constructor & Destructor Documentation

hpp::constraints::PointInJoint::PointInJoint ( )
inline
hpp::constraints::PointInJoint::PointInJoint ( const CalculusBase< PointInJoint > &  other)
inline

References joint(), and local().

hpp::constraints::PointInJoint::PointInJoint ( const PointInJoint pointInJoint)
inline
hpp::constraints::PointInJoint::PointInJoint ( const JointPtr_t joint,
const vector3_t pointInLocalFrame 
)
inline

References Eigen::assert().

hpp::constraints::PointInJoint::PointInJoint ( const JointPtr_t joint,
const vector3_t pointInLocalFrame,
size_type  nbDof 
)
inline

Member Function Documentation

void hpp::constraints::PointInJoint::computeCrossRXl ( )
inline
void hpp::constraints::PointInJoint::impl_jacobian ( const ConfigurationIn_t  )
inline
void hpp::constraints::PointInJoint::impl_value ( const ConfigurationIn_t  )
inline
const JointPtr_t& hpp::constraints::PointInJoint::joint ( ) const
inline

Referenced by PointInJoint().

const vector3_t& hpp::constraints::PointInJoint::local ( ) const
inline

Referenced by PointInJoint().

Member Data Documentation

bool hpp::constraints::PointInJoint::center_
protected
JointPtr_t hpp::constraints::PointInJoint::joint_
protected
vector3_t hpp::constraints::PointInJoint::local_
protected