Template Struct JointCompositeCalcZeroOrderStep

• Defined in File joint-composite.hxx

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> JointModelComposite

typedef JointDataCompositeTpl<Scalar, Options, JointCollectionTpl> JointDataComposite

typedef boost::fusion::vector<const JointModelComposite&, JointDataComposite&, const ConfigVectorType&> 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)