Template Struct ComputeRNEADerivativesBackwardStep

Defined in File rnea-derivatives.hxx

Inheritance Relationships

Base Type

public pinocchio::fusion::JointUnaryVisitorBase< ComputeRNEADerivativesBackwardStep< Scalar, Options, JointCollectionTpl, MatrixType1, MatrixType2, MatrixType3 > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename MatrixType1, typename MatrixType2, typename MatrixType3> struct ComputeRNEADerivativesBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<ComputeRNEADerivativesBackwardStep<Scalar, Options, JointCollectionTpl, MatrixType1, MatrixType2, MatrixType3>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model

typedef DataTpl<Scalar, Options, JointCollectionTpl> Data

typedef boost::fusion::vector<const Model&, Data&, const MatrixType1&, const MatrixType2&, const MatrixType3&> ArgsType

Public Static Functions

template<typename JointModel> static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, Data &data, const Eigen::MatrixBase<MatrixType1> &rnea_partial_dq, const Eigen::MatrixBase<MatrixType2> &rnea_partial_dv, const Eigen::MatrixBase<MatrixType3> &rnea_partial_da)

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