Template Struct ScaledConstraint

Defined in File joint-mimic.hpp

Nested Relationships

Nested Types

Struct ScaledConstraint::TransposeConst

Inheritance Relationships

Base Type

public pinocchio::ConstraintBase< ScaledConstraint< Constraint > > (Template Class ConstraintBase)

Struct Documentation

template<class Constraint> struct ScaledConstraint : public pinocchio::ConstraintBase<ScaledConstraint<Constraint>>

Public Types

Values:

enumerator NV

typedef ConstraintBase<ScaledConstraint> Base

typedef SE3GroupAction<Constraint>::ReturnType SE3ActionReturnType

Public Functions

inline ScaledConstraint()

inline explicit ScaledConstraint(const Scalar &scaling_factor)

inline ScaledConstraint(const Constraint &constraint, const Scalar &scaling_factor)

inline ScaledConstraint(const ScaledConstraint &other)

inline ScaledConstraint &operator=(const ScaledConstraint &other)

template<typename VectorLike> inline JointMotion __mult__(const Eigen::MatrixBase<VectorLike> &v) const

template<typename S1, int O1> inline SE3ActionReturnType se3Action(const SE3Tpl<S1, O1> &m) const

template<typename S1, int O1> inline SE3ActionReturnType se3ActionInverse(const SE3Tpl<S1, O1> &m) const

inline int nv_impl() const

inline TransposeConst transpose() const

inline DenseBase matrix_impl() const

template<typename MotionDerived> inline MotionAlgebraAction<ScaledConstraint, MotionDerived>::ReturnType motionAction(const MotionDense<MotionDerived> &m) const

inline const Scalar &scaling() const

inline Scalar &scaling()

inline const Constraint &constraint() const

inline Constraint &constraint()

inline bool isEqual(const ScaledConstraint &other) const

inline int nv() const

Protected Attributes

Constraint m_constraint

Scalar m_scaling_factor

struct TransposeConst

Public Functions

inline TransposeConst(const ScaledConstraint &ref)

template<typename Derived> inline ConstraintForceOp<ScaledConstraint, Derived>::ReturnType operator*(const ForceDense<Derived> &f) const

template<typename Derived> inline ConstraintForceSetOp<ScaledConstraint, Derived>::ReturnType operator*(const Eigen::MatrixBase<Derived> &F) const: [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)

Public Members

const ScaledConstraint &ref