Template Struct ComputeRNEADerivativesForwardStep

Inheritance Relationships

Base Type

  • public pinocchio::fusion::JointUnaryVisitorBase< ComputeRNEADerivativesForwardStep< Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType1, TangentVectorType2 > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
struct ComputeRNEADerivativesForwardStep : public pinocchio::fusion::JointUnaryVisitorBase<ComputeRNEADerivativesForwardStep<Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType1, TangentVectorType2>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, Data&, const ConfigVectorType&, const TangentVectorType1&, const TangentVectorType2&> 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, const Eigen::MatrixBase<TangentVectorType1> &v, const Eigen::MatrixBase<TangentVectorType2> &a)
template<typename ForceDerived, typename M6>
static inline void addForceCrossMatrix(const ForceDense<ForceDerived> &f, const Eigen::MatrixBase<M6> &mout)