Template Struct JointModelMimic

• Defined in File joint-mimic.hpp

Inheritance Relationships

Base Type

• public pinocchio::JointModelBase< JointModelMimic< JointModel > > (Template Struct JointModelBase)

Struct Documentation

template<class JointModel>
struct JointModelMimic : public pinocchio::JointModelBase<JointModelMimic<JointModel>>

Public Types

typedef JointModelBase<JointModelMimic> Base

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

inline JointModelMimic()

inline JointModelMimic(const JointModelBase<JointModel> &jmodel, const Scalar &scaling, const Scalar &offset)

inline Base &base()

inline const Base &base() const

inline int nq_impl() const

inline int nv_impl() const

inline int idx_q_impl() const

inline int idx_v_impl() const

inline void setIndexes_impl(JointIndex id, int, int)

inline JointDataDerived createData() const

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

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

template<typename ConfigVector> inline EIGEN_DONT_INLINE void calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs) const

template<typename ConfigVector, typename TangentVector> inline EIGEN_DONT_INLINE void calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const

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

inline std::string shortname() const

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

Returns:

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

inline const JointModel &jmodel() const

inline JointModel &jmodel()

inline const Scalar &scaling() const

inline Scalar &scaling()

inline const Scalar &offset() const

inline Scalar &offset()

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_impl(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_impl(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_impl(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_impl(Eigen::MatrixBase<D> &A) const

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

inline JointIndex id() const

inline int idx_q() const

inline int idx_v() const

inline int nq() const

inline int nv() const

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

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< JointModelMimic >::JointDerived JointDerived

Public Static Functions

static inline std::string classname()

Protected Attributes

JointModel m_jmodel_ref

Scalar m_scaling

Scalar m_offset