#include "pinocchio/multibody/joint/fwd.hpp"
Include dependency graph for joint-basic-visitors.hpp:
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<int Op, typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ForceType , typename ExpressionType > | |
| void | pinocchio::applyConstraintOnForceVisitor (JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, ForceType F, ExpressionType R) |
| Apply joint constraint (motion subspace) on a force. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::bias (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename VectorLike , typename Matrix6Type > | |
| void | pinocchio::calc_aba (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I) |
| Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename TangentVectorType > | |
| void | pinocchio::calc_first_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Blank blank, const Eigen::MatrixBase< TangentVectorType > &v) |
| Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType , typename TangentVectorType > | |
| void | pinocchio::calc_first_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v) |
| Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorType > | |
| void | pinocchio::calc_zero_order (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata, const Eigen::MatrixBase< ConfigVectorType > &q) |
| Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero. More... | |
| template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| CastType< NewScalar, JointModelTpl< Scalar, Options, JointCollectionTpl > >::type | pinocchio::cast_joint (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl<Scalar,...> to cast it into JointModelTpl<NewScalar,...> More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename ConfigVectorIn , typename ConfigVectorOut > | |
| void | pinocchio::configVectorAffineTransform (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, const Eigen::MatrixBase< ConfigVectorIn > &qIn, const Scalar &scaling, const Scalar &offset, const Eigen::MatrixBase< ConfigVectorOut > &qOut) |
| Apply the correct affine transform, on a joint configuration, depending on the joint type. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| JointDataTpl< Scalar, Options, JointCollectionTpl > | pinocchio::createData (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through CreateData visitor to create a JointDataTpl. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > | pinocchio::dinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataTpl through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| const std::vector< bool > | pinocchio::hasConfigurationLimit (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointConfigurationLimitVisitor to get the configurations limits. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| const std::vector< bool > | pinocchio::hasConfigurationLimitInTangent (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointConfigurationLimitInTangentVisitor to get the configurations limits in tangent space. More... | |
| template<typename NewScalar , typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived > | |
| bool | pinocchio::hasSameIndexes (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel) |
| Check whether JointModelTpl<Scalar,...> has the indexes than another JointModelDerived. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| JointIndex | pinocchio::id (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| int | pinocchio::idx_q (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| int | pinocchio::idx_v (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointIdxVVisitor to get the index in the model tangent space corresponding to the first joint tangent space degree. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| int | pinocchio::idx_vExtended (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointIdvExtendedVisitor to get the index in the model extended tangent space corresponding to the joint first joint extended tangent space degree. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointDataDerived > | |
| bool | pinocchio::isEqual (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointDataBase< JointDataDerived > &jmodel) |
| Visit a JointDataTpl<Scalar,...> to compare it to another JointData. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl, typename JointModelDerived > | |
| bool | pinocchio::isEqual (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel_generic, const JointModelBase< JointModelDerived > &jmodel) |
| Visit a JointModelTpl<Scalar,...> to compare it to JointModelDerived. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| JointMotionSubspaceTpl< Eigen::Dynamic, Scalar, Options > | pinocchio::joint_motin_subspace_xd (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| JointDataTpl< Scalar, Options, JointCollectionTpl >::ConfigVector_t | pinocchio::joint_q (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataVariant through JointConfigVisitor to get the joint configuration vector. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| SE3Tpl< Scalar, Options > | pinocchio::joint_transform (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint). More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| JointDataTpl< Scalar, Options, JointCollectionTpl >::TangentVector_t | pinocchio::joint_v (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataVariant through JointConfigVisitor to get the joint velocity vector. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| MotionTpl< Scalar, Options > | pinocchio::motion (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| int | pinocchio::nq (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| int | pinocchio::nv (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| int | pinocchio::nvExtended (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointNvExtendVisitor to get the dimension of the joint extended tangent space. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| void | pinocchio::setIndexes (JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v) |
| Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| void | pinocchio::setIndexes (JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel, JointIndex id, int q, int v, int vExtended) |
| Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| std::string | pinocchio::shortname (const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel) |
| Visit a JointModelTpl through JointShortnameVisitor to get the shortname of the derived joint model. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > | pinocchio::stu_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataTpl through JointStUInertiaVisitor to get St*I*S matrix of the inertia matrix decomposition. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > | pinocchio::u_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition. More... | |
| template<typename Scalar , int Options, template< typename S, int O > class JointCollectionTpl> | |
| Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > | pinocchio::udinv_inertia (const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata) |
| Visit a JointDataTpl through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition. More... | |