Template Struct JointModelCompositeTpl

Defined in File joint-composite.hpp

Inheritance Relationships

Base Type

public pinocchio::JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > > (Template Struct JointModelBase)

Struct Documentation

template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl> struct JointModelCompositeTpl : public pinocchio::JointModelBase<JointModelCompositeTpl<_Scalar, _Options, JointCollectionTpl>>

Public Types

typedef JointCompositeTpl<_Scalar, _Options, JointCollectionTpl> JointDerived

typedef JointCollectionTpl<Scalar, Options> JointCollection

typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel

typedef JointModel JointModelVariant

typedef SE3Tpl<Scalar, Options> SE3

typedef MotionTpl<Scalar, Options> Motion

typedef InertiaTpl<Scalar, Options> Inertia

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector

inline JointModelCompositeTpl(): Default contructor.

inline JointModelCompositeTpl(const size_t size): Default contructor with a defined size.

template<typename JointModel> inline JointModelCompositeTpl(const JointModelBase<JointModel> &jmodel, const SE3 &placement = SE3::Identity())

Constructor with one joint.

Parameters:

jmodel – Model of the first joint.
placement – Placement of the first joint w.r.t. the joint origin.

inline JointModelCompositeTpl(const JointModelCompositeTpl &other)

Copy constructor.

Parameters:: other – JointModel to copy.

template<typename JointModel> inline JointModelDerived &addJoint(const JointModelBase<JointModel> &jmodel, const SE3 &placement = SE3::Identity())

Add a joint to the vector of joints.

Parameters:

jmodel – Model of the joint to add.
placement – Placement of the joint relatively to its predecessor.

Returns:

A reference to *this

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 Matrix6Like> inline void calc_aba(JointDataDerived &data, const Eigen::MatrixBase<Matrix6Like> &I, const bool update_I) const

inline int nv_impl() const

inline int nq_impl() const

inline void setIndexes_impl(JointIndex id, int q, int v): Update the indexes of subjoints in the stack.

inline std::string shortname() const

inline JointModelCompositeTpl &operator=(const JointModelCompositeTpl &other)

inline bool isEqual(const JointModelCompositeTpl &other) const

template<typename NewScalar> inline JointModelCompositeTpl<NewScalar, Options, JointCollectionTpl> cast() const

Returns:: An expression of *this with the Scalar type casted to NewScalar.

PINOCCHIO_ALIGNED_STD_VECTOR (SE3) jointPlacements: Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent.

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>::Type jointConfigSelector(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>::Type jointVelocitySelector(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>::Type jointCols(Eigen::MatrixBase<D> &A) const

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

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

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

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

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

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

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointModelBase< JointModelCompositeTpl > Base

JointModelVector joints: Vector of joints contained in the joint composite.

int njoints: Number of joints contained in the JointModelComposite.

Public Static Functions

static inline std::string classname()

Protected Functions

inline void updateJointIndexes(): Update the indexes of the joints contained in the composition according to the position of the joint composite.

Protected Attributes

int m_nq: Dimensions of the config and tangent space of the composite joint.

int m_nv

std::vector<int> m_idx_q

Keep information of both the dimension and the position of the joints in the composition.

Index in the config vector

std::vector<int> m_nqs: Dimension of the segment in the config vector.

std::vector<int> m_idx_v: Index in the tangent vector.

std::vector<int> m_nvs: Dimension of the segment in the tangent vector.

Friends

friend struct JointCompositeCalcZeroOrderStep

friend struct JointCompositeCalcFirstOrderStep

friend struct Serialize< JointModelCompositeTpl >

friend struct JointModelCompositeTpl