Template Struct ConstraintTpl

Defined in File constraint-generic.hpp

Nested Relationships

Nested Types

Struct ConstraintTpl::Transpose

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

Values:

enumerator NV

Public Functions

template<typename D> inline explicit ConstraintTpl(const Eigen::MatrixBase<D> &_S)

inline ConstraintTpl()

inline explicit ConstraintTpl(const int dim)

template<typename VectorLike> inline JointMotion __mult__(const Eigen::MatrixBase<VectorLike> &vj) const

inline Transpose transpose() const

inline MatrixReturnType matrix_impl()

inline ConstMatrixReturnType matrix_impl() const

inline int nv_impl() const

inline DenseBase se3Action(const SE3Tpl<Scalar, Options> &m) const

inline DenseBase se3ActionInverse(const SE3Tpl<Scalar, Options> &m) const

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

inline void disp_impl(std::ostream &os) const

inline bool isEqual(const ConstraintTpl &other) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ConstraintBase< ConstraintTpl > Base

Public Static Functions

static inline ConstraintTpl Zero(const int dim)

Protected Attributes

DenseBase S

Friends

friend class ConstraintBase< ConstraintTpl >

template<typename S2, int O2> inline friend ConstraintTpl<_Dim, _Scalar, _Options>::DenseBase operator*(const InertiaTpl<S2, O2> &Y, const ConstraintTpl &S)

template<typename S2, int O2> inline friend Eigen::Matrix<_Scalar, 6, _Dim> operator*(const Eigen::Matrix<S2, 6, 6, O2> &Ymatrix, const ConstraintTpl &S)

struct Transpose

Public Functions

inline Transpose(const ConstraintTpl &ref)

template<typename Derived> inline JointForce operator*(const ForceDense<Derived> &f) const

template<typename D> inline Eigen::Matrix<Scalar, NV, Eigen::Dynamic> operator*(const Eigen::MatrixBase<D> &F)

Public Members

const ConstraintTpl &ref