Template Struct CATBackwardStep

• Defined in File compute-all-terms.hxx

Inheritance Relationships

Base Type

• public pinocchio::fusion::JointUnaryVisitorBase< CATBackwardStep< Scalar, Options, JointCollectionTpl > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
struct CATBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<CATBackwardStep<Scalar, Options, JointCollectionTpl>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model

typedef DataTpl<Scalar, Options, JointCollectionTpl> Data

typedef boost::fusion::vector<const Model&, Data&> ArgsType

Public Static Functions

template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, JointDataBase<typename JointModel::JointDataDerived> &jdata, const Model &model, Data &data)