Template Struct ComputeGeneralizedGravityDerivativeBackwardStep

• Defined in File rnea-derivatives.hxx

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model

typedef DataTpl<Scalar, Options, JointCollectionTpl> Data

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

Public Static Functions

template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, Data &data, typename Data::VectorXs &g, const Eigen::MatrixBase<ReturnMatrixType> &gravity_partial_dq)

template<typename Min, typename Mout>
static inline void lhsInertiaMult(const typename Data::Inertia &Y, const Eigen::MatrixBase<Min> &J, const Eigen::MatrixBase<Mout> &F)