Template Struct ConstraintSphericalZYXTpl

Defined in File joint-spherical-ZYX.hpp

Nested Relationships

Nested Types

Struct ConstraintSphericalZYXTpl::ConstraintTranspose

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

Values:

enumerator NV

typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3

Public Functions

inline ConstraintSphericalZYXTpl()

template<typename Matrix3Like> inline ConstraintSphericalZYXTpl(const Eigen::MatrixBase<Matrix3Like> &subspace)

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

inline Matrix3 &operator()()

inline const Matrix3 &operator()() const

inline int nv_impl() const

inline ConstraintTranspose transpose() const

inline DenseBase matrix_impl() const

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

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

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

inline Matrix3 &angularSubspace()

inline const Matrix3 &angularSubspace() const

inline bool isEqual(const ConstraintSphericalZYXTpl &other) const

Protected Attributes

Matrix3 m_S

struct ConstraintTranspose

Public Functions

inline ConstraintTranspose(const ConstraintSphericalZYXTpl &ref)

template<typename Derived> inline const MatrixMatrixProduct<Eigen::Transpose<constMatrix3>, Eigen::Block<consttypenameForceDense<Derived>::Vector6, 3, 1>>::type operator*(const ForceDense<Derived> &phi) const

template<typename D> inline const MatrixMatrixProduct<typenameEigen::Transpose<constMatrix3>, typenameEigen::MatrixBase<constD>::templateNRowsBlockXpr<3>::Type>::type operator*(const Eigen::MatrixBase<D> &F) const

Public Members

const ConstraintSphericalZYXTpl &ref