JointModelBase< Derived > Struct Template Reference

Public Types
typedef traits< Derived >::JointDerived	JointDerived

Public Member Functions
template<typename ConfigVectorType >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
template<typename ConfigVectorType , typename TangentVectorType >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const
template<typename Matrix6Type >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I=false) const
template<typename NewScalar >
CastType< NewScalar, Derived >::type	cast () const
JointDataDerived	createData () const
JointModelDerived &	derived ()
const JointModelDerived &	derived () const
void	disp (std::ostream &os) const
Scalar	finiteDifferenceIncrement () const
	Return the resolution of the finite differerence increment according to the Scalar type. More...
JointIndex	id () const
int	idx_q () const
int	idx_v () const
template<class OtherDerived >
bool	isEqual (const JointModelBase< OtherDerived > &) const
bool	isEqual (const JointModelBase< Derived > &other) const
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock (const Eigen::MatrixBase< D > &Mat) const
	Returns a block of dimension nv()xnv() located at position i_v,i_v in the matrix Mat.
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock (Eigen::MatrixBase< D > &Mat) const
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock_impl (Eigen::MatrixBase< D > &Mat) 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< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) 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 >::Type	jointConfigSelector (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_impl (Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows (const Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows (Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows_impl (const Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows_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 >::Type	jointVelocitySelector (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_impl (Eigen::MatrixBase< D > &a) const
int	nq () const
int	nq_impl () const
int	nv () const
int	nv_impl () const
template<class OtherDerived >
bool	operator!= (const JointModelBase< OtherDerived > &other) const
template<class OtherDerived >
bool	operator== (const JointModelBase< OtherDerived > &other) const
void	setIndexes (JointIndex id, int q, int v)
void	setIndexes_impl (JointIndex id, int q, int v)
std::string	shortname () const

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

Public Attributes
JointIndex	i_id
int	i_q
int	i_v
	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE

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 pinocchio::JointModelBase< Derived >

Definition at line 377 of file joint-base.hpp.

Constructor & Destructor Documentation

JointModelBase ( )

inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 597 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 604 of file joint-base.hpp.

Member Function Documentation

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 419 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 611 of file joint-base.hpp.

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

• joint-base.hpp