Template Struct JointCompositeCalcFirstOrderStep

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> JointModelComposite
typedef JointDataCompositeTpl<Scalar, Options, JointCollectionTpl> JointDataComposite
typedef boost::fusion::vector<const JointModelComposite&, JointDataComposite&, const ConfigVectorType&, const TangentVectorType&> ArgsType

Public Static Functions

template<typename JointModel>
static inline void algo(const pinocchio::JointModelBase<JointModel> &jmodel, pinocchio::JointDataBase<typename JointModel::JointDataDerived> &jdata, const JointModelComposite &model, JointDataComposite &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType> &v)