Template Struct JointAccelerationDerivativesBackwardStep

Inheritance Relationships

Base Type

  • public pinocchio::fusion::JointUnaryVisitorBase< JointAccelerationDerivativesBackwardStep< Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2, Matrix6xOut3, Matrix6xOut4 > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4>
struct JointAccelerationDerivativesBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<JointAccelerationDerivativesBackwardStep<Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2, Matrix6xOut3, Matrix6xOut4>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, const Data&, const typename Model::JointIndex&, const ReferenceFrame&, Matrix6xOut1&, Matrix6xOut2&, Matrix6xOut3&, Matrix6xOut4&> ArgsType

Public Static Functions

template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, const Data &data, const typename Model::JointIndex &jointId, const ReferenceFrame &rf, const Eigen::MatrixBase<Matrix6xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix6xOut2> &a_partial_dq, const Eigen::MatrixBase<Matrix6xOut3> &a_partial_dv, const Eigen::MatrixBase<Matrix6xOut4> &a_partial_da)