Template Struct JointDataCompositeTpl

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl>
struct JointDataCompositeTpl : public pinocchio::JointDataBase<JointDataCompositeTpl<_Scalar, _Options, JointCollectionTpl>>

Public Types

typedef JointCompositeTpl<_Scalar, _Options, JointCollectionTpl> JointDerived
typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointDataVariant

Public Functions

PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived)
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointDataVariant) JointDataVector
inline JointDataCompositeTpl()
inline JointDataCompositeTpl(const JointDataVector &joint_data, const int, const int nv)
PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) iMlast

Transforms from previous joint to last joint.

PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) pjMi

Transforms from previous joint to joint i.

inline std::string shortname() const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointDataBase< JointDataCompositeTpl > Base
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl< Scalar, Options > JointCollection
JointDataVector joints

Vector of joints.

Constraint_t S
Transformation_t M
Motion_t v
Bias_t c
U_t U
D_t Dinv
UD_t UDinv
D_t StU

Public Static Functions

static inline std::string classname()