Template Struct ConstraintSphericalTpl

Defined in File joint-spherical.hpp

Nested Relationships

Nested Types

Struct ConstraintSphericalTpl::TransposeConst

Inheritance Relationships

Base Type

public pinocchio::ConstraintBase< ConstraintSphericalTpl< _Scalar, _Options > > (Template Class ConstraintBase)

Struct Documentation

template<typename _Scalar, int _Options> struct ConstraintSphericalTpl : public pinocchio::ConstraintBase<ConstraintSphericalTpl<_Scalar, _Options>>

Public Types

Values:

enumerator NV

Public Functions

inline EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintSphericalTpl()

inline int nv_impl() const

template<typename Vector3Like> inline JointMotion __mult__(const Eigen::MatrixBase<Vector3Like> &w) const

inline TransposeConst transpose() const

inline DenseBase matrix_impl() const

template<typename S1, int O1> inline Eigen::Matrix<S1, 6, 3, O1> se3Action(const SE3Tpl<S1, O1> &m) const

template<typename S1, int O1> inline Eigen::Matrix<S1, 6, 3, O1> se3ActionInverse(const SE3Tpl<S1, O1> &m) const

template<typename MotionDerived> inline DenseBase motionAction(const MotionDense<MotionDerived> &m) const

inline bool isEqual(const ConstraintSphericalTpl&) const

struct TransposeConst

Public Functions

template<typename Derived> inline ForceDense<Derived>::ConstAngularType operator*(const ForceDense<Derived> &phi)

template<typename MatrixDerived> inline const SizeDepType<3>::RowsReturn<MatrixDerived>::ConstType operator*(const Eigen::MatrixBase<MatrixDerived> &F) const