Template Struct ComputeRNEASecondOrderDerivativesBackwardStep

Defined in File rnea-second-order-derivatives.hxx

Inheritance Relationships

Base Type

public pinocchio::fusion::JointUnaryVisitorBase< ComputeRNEASecondOrderDerivativesBackwardStep< Scalar, Options, JointCollectionTpl, Tensor1, Tensor2, Tensor3, Tensor4 > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Tensor1, typename Tensor2, typename Tensor3, typename Tensor4> struct ComputeRNEASecondOrderDerivativesBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<ComputeRNEASecondOrderDerivativesBackwardStep<Scalar, Options, JointCollectionTpl, Tensor1, Tensor2, Tensor3, Tensor4>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model

typedef DataTpl<Scalar, Options, JointCollectionTpl> Data

typedef boost::fusion::vector<const Model&, Data&, const Tensor1&, const Tensor2&, const Tensor3&, const Tensor4&> ArgsType

Public Static Functions

template<typename JointModel> static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, Data &data, const Tensor1 &d2tau_dqdq, const Tensor2 &d2tau_dvdv, const Tensor3 &dtau_dqdv, const Tensor3 &dtau_dadq)

template<typename ForceDerived, typename M6> static inline void ForceCrossMatrix(const ForceDense<ForceDerived> &f, const Eigen::MatrixBase<M6> &mout)

template<typename ForceDerived, typename M6> static inline void addForceCrossMatrix(const ForceDense<ForceDerived> &f, const Eigen::MatrixBase<M6> &mout)