Template Struct ComputeGeneralizedGravityDerivativeForwardStep

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, Data&, const ConfigVectorType&> 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, const Eigen::MatrixBase<ConfigVectorType> &q)