Template Struct ForwardKinematicFirstStep

Inheritance Relationships

Base Type

  • public pinocchio::fusion::JointUnaryVisitorBase< ForwardKinematicFirstStep< Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
struct ForwardKinematicFirstStep : public pinocchio::fusion::JointUnaryVisitorBase<ForwardKinematicFirstStep<Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, Data&, const ConfigVectorType&, const TangentVectorType&> 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<TangentVectorType> &v)