Template Struct JointModelSphericalTpl

• Defined in File joint-spherical.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef JointModelBase<JointModelSphericalTpl> Base

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

inline JointDataDerived createData() const

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

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

template<typename ConfigVectorLike>
inline void forwardKinematics(Transformation_t &M, const Eigen::MatrixBase<ConfigVectorLike> &q_joint) const

template<typename QuaternionDerived>
inline void calc(JointDataDerived &data, const typename Eigen::QuaternionBase<QuaternionDerived> &quat) const

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

template<typename ConfigVector> inline EIGEN_DONT_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 JointModelSphericalTpl<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)

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl< _Scalar, _Options > JointDerived

Public Static Functions

static inline std::string classname()