Template Struct ComputeABADerivativesForwardStep2
Defined in File aba-derivatives.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< ComputeABADerivativesForwardStep2< Scalar, Options, JointCollectionTpl, MatrixType > >(Template Struct JointUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename MatrixType>
struct ComputeABADerivativesForwardStep2 : public pinocchio::fusion::JointUnaryVisitorBase<ComputeABADerivativesForwardStep2<Scalar, Options, JointCollectionTpl, MatrixType>> Public Types
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
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typedef boost::fusion::vector<const Model&, Data&, MatrixType&> ArgsType
Public Static Functions
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template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, JointDataBase<typename JointModel::JointDataDerived> &jdata, const Model &model, Data &data, MatrixType &Minv)
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template<typename ForceDerived, typename M6>
static inline void addForceCrossMatrix(const ForceDense<ForceDerived> &f, const Eigen::MatrixBase<M6> &mout)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model