Template Struct JointModelRevoluteUnalignedTpl

Defined in File joint-revolute-unaligned.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

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

typedef JointModelBase<JointModelRevoluteUnalignedTpl> Base

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

inline JointModelRevoluteUnalignedTpl()

inline JointModelRevoluteUnalignedTpl(const Scalar &x, const Scalar &y, const Scalar &z)

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

inline JointDataDerived createData() const

inline bool isEqual(const JointModelRevoluteUnalignedTpl &other) const

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

inline const std::vector<bool> hasConfigurationLimitInTangent() 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 JointModelRevoluteUnalignedTpl<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 JointRevoluteUnalignedTpl< _Scalar, _Options > JointDerived

Vector3 axis: 3d main axis of the joint.

Public Static Functions

static inline std::string classname()