Template Struct JointModelBase

• Defined in File joint-model-base.hpp

Inheritance Relationships

Derived Type

• public pinocchio::JointModelTpl< double > (Template Struct JointModelTpl)

Struct Documentation

template<typename Derived>
struct JointModelBase

Subclassed by pinocchio::JointModelTpl< double >

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

inline JointModelDerived &derived()

inline const JointModelDerived &derived() const

inline JointDataDerived createData() const

inline const std::vector<bool> hasConfigurationLimit() const

inline const std::vector<bool> hasConfigurationLimitInTangent() const

template<typename ConfigVectorType>
inline void calc(JointDataDerived &data, const Eigen::MatrixBase<ConfigVectorType> &qs) const

template<typename ConfigVectorType, typename TangentVectorType>
inline void calc(JointDataDerived &data, const Eigen::MatrixBase<ConfigVectorType> &qs, const Eigen::MatrixBase<TangentVectorType> &vs) const

template<typename Matrix6Type>
inline void calc_aba(JointDataDerived &data, const Eigen::MatrixBase<Matrix6Type> &I, const bool update_I = false) const

inline int nv() const

inline int nq() const

inline int nv_impl() const

inline int nq_impl() const

inline int idx_q() const

inline int idx_v() const

inline JointIndex id() const

inline int idx_q_impl() const

inline int idx_v_impl() const

inline JointIndex id_impl() const

inline void setIndexes(JointIndex id, int q, int v)

inline void setIndexes_impl(JointIndex id, int q, int v)

inline void disp(std::ostream &os) const

inline std::string shortname() const

template<typename NewScalar>
inline CastType<NewScalar, Derived>::type cast() const

template<class OtherDerived>
inline bool operator==(const JointModelBase<OtherDerived> &other) const

template<class OtherDerived>
inline bool operator!=(const JointModelBase<OtherDerived> &other) const

template<class OtherDerived>
inline bool isEqual(const JointModelBase<OtherDerived>&) const

inline bool isEqual(const JointModelBase<Derived> &other) const

template<class OtherDerived>
inline bool hasSameIndexes(const JointModelBase<OtherDerived> &other) const

template<typename D>
inline SizeDepType<NQ>::template SegmentReturn<D>::ConstType jointConfigSelector(const Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NQ>::template SegmentReturn<D>::ConstType jointConfigSelector_impl(const Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NQ>::template SegmentReturn<D>::Type jointConfigSelector(Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NQ>::template SegmentReturn<D>::Type jointConfigSelector_impl(Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NV>::template SegmentReturn<D>::ConstType jointVelocitySelector(const Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NV>::template SegmentReturn<D>::ConstType jointVelocitySelector_impl(const Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NV>::template SegmentReturn<D>::Type jointVelocitySelector(Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NV>::template SegmentReturn<D>::Type jointVelocitySelector_impl(Eigen::MatrixBase<D> &a) const

template<typename D>
inline SizeDepType<NV>::template ColsReturn<D>::ConstType jointCols(const Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template ColsReturn<D>::ConstType jointCols_impl(const Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template ColsReturn<D>::Type jointCols(Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template ColsReturn<D>::Type jointCols_impl(Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template RowsReturn<D>::ConstType jointRows(const Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template RowsReturn<D>::ConstType jointRows_impl(const Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template RowsReturn<D>::Type jointRows(Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template RowsReturn<D>::Type jointRows_impl(Eigen::MatrixBase<D> &A) const

template<typename D>
inline SizeDepType<NV>::template BlockReturn<D>::ConstType jointBlock(const Eigen::MatrixBase<D> &Mat) const

Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

template<typename D>
inline SizeDepType<NV>::template BlockReturn<D>::ConstType jointBlock_impl(const Eigen::MatrixBase<D> &Mat) const

template<typename D>
inline SizeDepType<NV>::template BlockReturn<D>::Type jointBlock(Eigen::MatrixBase<D> &Mat) const

template<typename D>
inline SizeDepType<NV>::template BlockReturn<D>::Type jointBlock_impl(Eigen::MatrixBase<D> &Mat) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::JointDerived JointDerived

Public Static Functions

static inline std::string classname()

Protected Functions

inline JointModelBase()

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

inline JointModelBase(const JointModelBase &clone)

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

inline JointModelBase &operator=(const JointModelBase &clone)

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Protected Attributes

JointIndex i_id

int i_q

int i_v

Friends

inline friend std::ostream &operator<<(std::ostream &os, const JointModelBase<Derived> &joint)