Template Struct JointModelTpl

Defined in File joint-generic.hpp

Inheritance Relationships

Base Types

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

Struct Documentation

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

Public Types

typedef JointCollectionTpl<Scalar, Options> JointCollection

typedef JointCollection::JointDataVariant JointDataVariant

typedef JointCollection::JointModelVariant JointModelVariant

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

PINOCCHIO_JOINT_USE_INDEXES(JointModelTpl)

inline JointModelTpl()

inline JointModelTpl(const JointModelVariant &jmodel_variant)

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

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

template<typename JointModelDerived> inline JointModelTpl(const JointModelBase<JointModelDerived> &jmodel)

inline JointModelVariant &toVariant()

inline const JointModelVariant &toVariant() const

inline JointDataDerived createData() const

template<typename JointModelDerived> inline bool isEqual(const JointModelBase<JointModelDerived> &other) const

template<typename JointModelDerived> inline bool hasSameIndexes(const JointModelBase<JointModelDerived> &other) const

inline bool isEqual(const JointModelTpl &other) const

inline bool operator==(const JointModelTpl &other) const

inline bool operator!=(const JointModelTpl &other) const

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

template<typename ConfigVector, typename TangentVector> inline void calc(JointDataDerived &data, const Eigen::MatrixBase<ConfigVector> &q, const Eigen::MatrixBase<TangentVector> &v) 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

inline int nq_impl() const

inline int nv_impl() const

inline int idx_q_impl() const

inline int idx_v_impl() const

inline JointIndex id_impl() const

inline void setIndexes(JointIndex id, int nq, int nv)

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

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

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTpl< _Scalar, _Options, JointCollectionTpl > JointDerived

Public Static Functions

static inline std::string classname()