Template Struct JointModelPrismaticUnalignedTpl

• Defined in File joint-prismatic-unaligned.hpp

Inheritance Relationships

Base Type

• public pinocchio::JointModelBase< JointModelPrismaticUnalignedTpl< _Scalar, _Options > > (Template Struct JointModelBase)

Struct Documentation

template<typename _Scalar, int _Options>
struct JointModelPrismaticUnalignedTpl : public pinocchio::JointModelBase<JointModelPrismaticUnalignedTpl<_Scalar, _Options>>

Public Types

typedef JointModelBase<JointModelPrismaticUnalignedTpl> Base

typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

inline JointModelPrismaticUnalignedTpl()

inline JointModelPrismaticUnalignedTpl(const Scalar &x, const Scalar &y, const Scalar &z)

template<typename Vector3Like>
inline JointModelPrismaticUnalignedTpl(const Eigen::MatrixBase<Vector3Like> &axis)

inline JointDataDerived createData() const

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

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

inline bool isEqual(const JointModelPrismaticUnalignedTpl &other) const

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

template<typename ConfigVector, typename TangentVector>
inline void calc(JointDataDerived &data, 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 JointModelPrismaticUnalignedTpl<NewScalar, Options> cast() const

Returns:

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

inline JointIndex id() const

inline int idx_q() const

inline int idx_v() const

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

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

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

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointPrismaticUnalignedTpl< _Scalar, _Options > JointDerived

Vector3 axis

3d main axis of the joint.

Public Static Functions

static inline std::string classname()