#include <joint-mimic.hpp>

Public Types
typedef JointModelBase< JointModelMimic >	Base

Public Member Functions
Base &	base ()

const Base &	base () const

template<typename TangentVector >
EIGEN_DONT_INLINE void	calc (JointDataDerived &jdata, const Blank blank, const typename Eigen::MatrixBase< TangentVector > &vs) const

template<typename ConfigVector >
EIGEN_DONT_INLINE void	calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs) const

template<typename ConfigVector , typename TangentVector >
EIGEN_DONT_INLINE void	calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const

template<typename VectorLike , typename Matrix6Like >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const

template<typename NewScalar >
CastType< NewScalar, JointModelMimic >::type	cast () const

JointDataDerived	createData () const

const std::vector< bool >	hasConfigurationLimit () const

const std::vector< bool >	hasConfigurationLimitInTangent () const

JointIndex	id () const

int	idx_q () const

int	idx_q_impl () const

int	idx_v () const

int	idx_v_impl () const

JointModel &	jmodel ()

const JointModel &	jmodel () const

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
	Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat. More...

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_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_impl (const Eigen::MatrixBase< D > &a) const

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

	JointModelMimic ()

	JointModelMimic (const JointModelBase< JointModel > &jmodel, const Scalar &scaling, const Scalar &offset)

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_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

Scalar &	offset ()

const Scalar &	offset () const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

Scalar &	scaling ()

const Scalar &	scaling () const

void	setIndexes (JointIndex id, int q, int v)

void	setIndexes_impl (JointIndex id, int, int)

std::string	shortname () const

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

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

Protected Attributes
JointModel	m_jmodel_ref

Scalar	m_offset

Scalar	m_scaling

Detailed Description

template<class JointModel>
struct pinocchio::JointModelMimic< JointModel >

Definition at line 307 of file joint-mimic.hpp.

Member Typedef Documentation

◆ Base

template<class JointModel >

typedef JointModelBase<JointModelMimic> pinocchio::JointModelMimic< JointModel >::Base

Definition at line 581 of file joint-mimic.hpp.

Constructor & Destructor Documentation

◆ JointModelMimic() [1/2]

template<class JointModel >

pinocchio::JointModelMimic< JointModel >::JointModelMimic ( )

inline

Definition at line 589 of file joint-mimic.hpp.

◆ JointModelMimic() [2/2]

template<class JointModel >

pinocchio::JointModelMimic< JointModel >::JointModelMimic	(	const JointModelBase< JointModel > &	jmodel,
		const Scalar &	scaling,
		const Scalar &	offset
	)

inline

Definition at line 593 of file joint-mimic.hpp.

Member Function Documentation

◆ base() [1/2]

template<class JointModel >

Base& pinocchio::JointModelMimic< JointModel >::base ( )

inline

Definition at line 601 of file joint-mimic.hpp.

◆ base() [2/2]

template<class JointModel >

const Base& pinocchio::JointModelMimic< JointModel >::base ( ) const

inline

Definition at line 605 of file joint-mimic.hpp.

◆ calc() [1/3]

template<class JointModel >

template<typename TangentVector >

EIGEN_DONT_INLINE void pinocchio::JointModelMimic< JointModel >::calc	(	JointDataDerived &	jdata,
		const Blank	blank,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 661 of file joint-mimic.hpp.

◆ calc() [2/3]

template<class JointModel >

template<typename ConfigVector >

EIGEN_DONT_INLINE void pinocchio::JointModelMimic< JointModel >::calc	(	JointDataDerived &	jdata,
		const typename Eigen::MatrixBase< ConfigVector > &	qs
	)		const

inline

Definition at line 652 of file joint-mimic.hpp.

◆ calc() [3/3]

template<class JointModel >

template<typename ConfigVector , typename TangentVector >

EIGEN_DONT_INLINE void pinocchio::JointModelMimic< JointModel >::calc	(	JointDataDerived &	jdata,
		const typename Eigen::MatrixBase< ConfigVector > &	qs,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 671 of file joint-mimic.hpp.

◆ calc_aba()

template<class JointModel >

template<typename VectorLike , typename Matrix6Like >

void pinocchio::JointModelMimic< JointModel >::calc_aba	(	JointDataDerived &	data,
		const Eigen::MatrixBase< VectorLike > &	armature,
		const Eigen::MatrixBase< Matrix6Like > &	I,
		const bool	update_I
	)		const

inline

Definition at line 684 of file joint-mimic.hpp.

◆ cast()

template<class JointModel >

template<typename NewScalar >

CastType<NewScalar, JointModelMimic>::type pinocchio::JointModelMimic< JointModel >::cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 708 of file joint-mimic.hpp.

◆ classname()

template<class JointModel >

static std::string pinocchio::JointModelMimic< JointModel >::classname ( )

inlinestatic

Definition at line 695 of file joint-mimic.hpp.

◆ createData()

template<class JointModel >

JointDataDerived pinocchio::JointModelMimic< JointModel >::createData ( ) const

inline

Definition at line 635 of file joint-mimic.hpp.

◆ hasConfigurationLimit()

template<class JointModel >

const std::vector<bool> pinocchio::JointModelMimic< JointModel >::hasConfigurationLimit ( ) const

inline

Definition at line 640 of file joint-mimic.hpp.

◆ hasConfigurationLimitInTangent()

template<class JointModel >

const std::vector<bool> pinocchio::JointModelMimic< JointModel >::hasConfigurationLimitInTangent ( ) const

inline

Definition at line 645 of file joint-mimic.hpp.

◆ id()

template<class JointModel >

JointIndex pinocchio::JointModelBase< Derived >::id

inline

Definition at line 168 of file joint-model-base.hpp.

◆ idx_q()

template<class JointModel >

int pinocchio::JointModelBase< Derived >::idx_q

inline

Definition at line 160 of file joint-model-base.hpp.

◆ idx_q_impl()

template<class JointModel >

int pinocchio::JointModelMimic< JointModel >::idx_q_impl ( ) const

inline

Definition at line 619 of file joint-mimic.hpp.

◆ idx_v()

template<class JointModel >

int pinocchio::JointModelBase< Derived >::idx_v

inline

Definition at line 164 of file joint-model-base.hpp.

◆ idx_v_impl()

template<class JointModel >

int pinocchio::JointModelMimic< JointModel >::idx_v_impl ( ) const

inline

Definition at line 623 of file joint-mimic.hpp.

◆ jmodel() [1/2]

template<class JointModel >

JointModel& pinocchio::JointModelMimic< JointModel >::jmodel ( )

inline

Definition at line 723 of file joint-mimic.hpp.

◆ jmodel() [2/2]

template<class JointModel >

const JointModel& pinocchio::JointModelMimic< JointModel >::jmodel ( ) const

inline

Definition at line 719 of file joint-mimic.hpp.

◆ jointBlock_impl() [1/2]

template<class JointModel >

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::ConstType pinocchio::JointModelMimic< JointModel >::jointBlock_impl ( const Eigen::MatrixBase< D > & Mat ) const

inline

Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

Definition at line 825 of file joint-mimic.hpp.

◆ jointBlock_impl() [2/2]

template<class JointModel >

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::Type pinocchio::JointModelMimic< JointModel >::jointBlock_impl ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 835 of file joint-mimic.hpp.

◆ jointCols_impl() [1/2]

template<class JointModel >

template<typename D >

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

inline

Definition at line 790 of file joint-mimic.hpp.

◆ jointCols_impl() [2/2]

template<class JointModel >

template<typename D >

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

inline

Definition at line 798 of file joint-mimic.hpp.

◆ jointConfigSelector_impl() [1/2]

template<class JointModel >

template<typename D >

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

inline

Definition at line 756 of file joint-mimic.hpp.

◆ jointConfigSelector_impl() [2/2]

template<class JointModel >

template<typename D >

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

inline

Definition at line 764 of file joint-mimic.hpp.

◆ jointRows_impl() [1/2]

template<class JointModel >

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::ConstType pinocchio::JointModelMimic< JointModel >::jointRows_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 807 of file joint-mimic.hpp.

◆ jointRows_impl() [2/2]

template<class JointModel >

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::Type pinocchio::JointModelMimic< JointModel >::jointRows_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 815 of file joint-mimic.hpp.

◆ jointVelocitySelector_impl() [1/2]

template<class JointModel >

template<typename D >

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

inline

Definition at line 773 of file joint-mimic.hpp.

◆ jointVelocitySelector_impl() [2/2]

template<class JointModel >

template<typename D >

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

inline

Definition at line 781 of file joint-mimic.hpp.

◆ nq()

template<class JointModel >

int pinocchio::JointModelBase< Derived >::nq

inline

Definition at line 145 of file joint-model-base.hpp.

◆ nq_impl()

template<class JointModel >

int pinocchio::JointModelMimic< JointModel >::nq_impl ( ) const

inline

Definition at line 610 of file joint-mimic.hpp.

◆ nv()

template<class JointModel >

int pinocchio::JointModelBase< Derived >::nv

inline

Definition at line 141 of file joint-model-base.hpp.

◆ nv_impl()

template<class JointModel >

int pinocchio::JointModelMimic< JointModel >::nv_impl ( ) const

inline

Definition at line 614 of file joint-mimic.hpp.

◆ offset() [1/2]

template<class JointModel >

Scalar& pinocchio::JointModelMimic< JointModel >::offset ( )

inline

Definition at line 741 of file joint-mimic.hpp.

◆ offset() [2/2]

template<class JointModel >

const Scalar& pinocchio::JointModelMimic< JointModel >::offset ( ) const

inline

Definition at line 737 of file joint-mimic.hpp.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<class JointModel >

pinocchio::JointModelMimic< JointModel >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived )

◆ scaling() [1/2]

template<class JointModel >

Scalar& pinocchio::JointModelMimic< JointModel >::scaling ( )

inline

Definition at line 732 of file joint-mimic.hpp.

◆ scaling() [2/2]

template<class JointModel >

const Scalar& pinocchio::JointModelMimic< JointModel >::scaling ( ) const

inline

Definition at line 728 of file joint-mimic.hpp.

◆ setIndexes()

template<class JointModel >

void pinocchio::JointModelBase< Derived >::setIndexes

inline

Definition at line 186 of file joint-model-base.hpp.

◆ setIndexes_impl()

template<class JointModel >

void pinocchio::JointModelMimic< JointModel >::setIndexes_impl	(	JointIndex	id,
		int	,
		int
	)

inline

Definition at line 628 of file joint-mimic.hpp.

◆ shortname()

template<class JointModel >

std::string pinocchio::JointModelMimic< JointModel >::shortname ( ) const

inline

Definition at line 701 of file joint-mimic.hpp.

Member Data Documentation

◆ JointDerived

template<class JointModel >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits<JointModelMimic>::JointDerived pinocchio::JointModelMimic< JointModel >::JointDerived

Definition at line 577 of file joint-mimic.hpp.

◆ m_jmodel_ref

template<class JointModel >

JointModel pinocchio::JointModelMimic< JointModel >::m_jmodel_ref

protected

Definition at line 748 of file joint-mimic.hpp.

◆ m_offset

template<class JointModel >

Scalar pinocchio::JointModelMimic< JointModel >::m_offset

protected

Definition at line 749 of file joint-mimic.hpp.

◆ m_scaling

template<class JointModel >

Scalar pinocchio::JointModelMimic< JointModel >::m_scaling

protected

Definition at line 749 of file joint-mimic.hpp.

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

joint-mimic.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<class JointModel> struct pinocchio::JointModelMimic< JointModel >

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ JointModelMimic() [1/2]

◆ JointModelMimic() [2/2]

Member Function Documentation

◆ base() [1/2]

◆ base() [2/2]

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_q_impl()

◆ idx_v()

◆ idx_v_impl()

◆ jmodel() [1/2]

◆ jmodel() [2/2]

◆ jointBlock_impl() [1/2]

◆ jointBlock_impl() [2/2]

◆ jointCols_impl() [1/2]

◆ jointCols_impl() [2/2]

◆ jointConfigSelector_impl() [1/2]

◆ jointConfigSelector_impl() [2/2]

◆ jointRows_impl() [1/2]

◆ jointRows_impl() [2/2]

◆ jointVelocitySelector_impl() [1/2]

◆ jointVelocitySelector_impl() [2/2]

◆ nq()

◆ nq_impl()

◆ nv()

◆ nv_impl()

◆ offset() [1/2]

◆ offset() [2/2]

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ scaling() [1/2]

◆ scaling() [2/2]

◆ setIndexes()

◆ setIndexes_impl()

◆ shortname()

Member Data Documentation

◆ JointDerived

◆ m_jmodel_ref

◆ m_offset

◆ m_scaling

template<class JointModel>
struct pinocchio::JointModelMimic< JointModel >