#include <fwd.hpp>

Public Types
typedef JointModelBase< JointModelSphericalTpl >	Base

Public Member Functions
template<typename TangentVector >
void	calc (JointDataDerived &data, const Blank, const typename Eigen::MatrixBase< TangentVector > &vs) const

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

template<typename ConfigVector , typename TangentVector >
void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const

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

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

template<typename VectorLike , typename Matrix6Like >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const

template<typename NewScalar >
JointModelSphericalTpl< NewScalar, Options >	cast () const

JointDataDerived	createData () const

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

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

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

JointIndex	id () const

int	idx_q () const

int	idx_v () const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

void	setIndexes (JointIndex id, int q, int v)

std::string	shortname () const

Static Public Member Functions
static std::string	classname ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl< _Scalar, _Options >	JointDerived

Detailed Description

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

Definition at line 73 of file multibody/joint/fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef JointModelBase<JointModelSphericalTpl> pinocchio::JointModelSphericalTpl< _Scalar, _Options >::Base

Definition at line 479 of file joint-spherical.hpp.

Member Function Documentation

◆ calc() [1/5]

template<typename _Scalar , int _Options>

template<typename TangentVector >

void pinocchio::JointModelSphericalTpl< _Scalar, _Options >::calc	(	JointDataDerived &	data,
		const	Blank,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 552 of file joint-spherical.hpp.

◆ calc() [2/5]

template<typename _Scalar , int _Options>

template<typename ConfigVector >

EIGEN_DONT_INLINE void pinocchio::JointModelSphericalTpl< _Scalar, _Options >::calc	(	JointDataDerived &	data,
		const typename Eigen::MatrixBase< ConfigVector > &	qs
	)		const

inline

Definition at line 542 of file joint-spherical.hpp.

◆ calc() [3/5]

template<typename _Scalar , int _Options>

template<typename ConfigVector , typename TangentVector >

void pinocchio::JointModelSphericalTpl< _Scalar, _Options >::calc	(	JointDataDerived &	data,
		const typename Eigen::MatrixBase< ConfigVector > &	qs,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 560 of file joint-spherical.hpp.

◆ calc() [4/5]

template<typename _Scalar , int _Options>

template<typename ConfigVector >

EIGEN_DONT_INLINE void pinocchio::JointModelSphericalTpl< _Scalar, _Options >::calc	(	JointDataDerived &	data,
		const typename Eigen::PlainObjectBase< ConfigVector > &	qs
	)		const

inline

Definition at line 530 of file joint-spherical.hpp.

◆ calc() [5/5]

template<typename _Scalar , int _Options>

template<typename QuaternionDerived >

void pinocchio::JointModelSphericalTpl< _Scalar, _Options >::calc	(	JointDataDerived &	data,
		const typename Eigen::QuaternionBase< QuaternionDerived > &	quat
	)		const

inline

Definition at line 521 of file joint-spherical.hpp.

◆ calc_aba()

template<typename _Scalar , int _Options>

template<typename VectorLike , typename Matrix6Like >

void pinocchio::JointModelSphericalTpl< _Scalar, _Options >::calc_aba	(	JointDataDerived &	data,
		const Eigen::MatrixBase< VectorLike > &	armature,
		const Eigen::MatrixBase< Matrix6Like > &	I,
		const bool	update_I
	)		const

inline

Definition at line 571 of file joint-spherical.hpp.

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

JointModelSphericalTpl<NewScalar, Options> pinocchio::JointModelSphericalTpl< _Scalar, _Options >::cast ( ) const

inline

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

Definition at line 599 of file joint-spherical.hpp.

◆ classname()

template<typename _Scalar , int _Options>

static std::string pinocchio::JointModelSphericalTpl< _Scalar, _Options >::classname ( )

inlinestatic

Definition at line 588 of file joint-spherical.hpp.

◆ createData()

template<typename _Scalar , int _Options>

JointDataDerived pinocchio::JointModelSphericalTpl< _Scalar, _Options >::createData ( ) const

inline

Definition at line 485 of file joint-spherical.hpp.

◆ forwardKinematics()

template<typename _Scalar , int _Options>

template<typename ConfigVectorLike >

void pinocchio::JointModelSphericalTpl< _Scalar, _Options >::forwardKinematics	(	Transformation_t &	M,
		const Eigen::MatrixBase< ConfigVectorLike > &	q_joint
	)		const

inline

Definition at line 501 of file joint-spherical.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar , int _Options>

const std::vector<bool> pinocchio::JointModelSphericalTpl< _Scalar, _Options >::hasConfigurationLimit ( ) const

inline

Definition at line 490 of file joint-spherical.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar , int _Options>

const std::vector<bool> pinocchio::JointModelSphericalTpl< _Scalar, _Options >::hasConfigurationLimitInTangent ( ) const

inline

Definition at line 495 of file joint-spherical.hpp.

◆ id()

template<typename _Scalar , int _Options>

JointIndex pinocchio::JointModelBase< Derived >::id

inline

Definition at line 168 of file joint-model-base.hpp.

◆ idx_q()

template<typename _Scalar , int _Options>

int pinocchio::JointModelBase< Derived >::idx_q

inline

Definition at line 160 of file joint-model-base.hpp.

◆ idx_v()

template<typename _Scalar , int _Options>

int pinocchio::JointModelBase< Derived >::idx_v

inline

Definition at line 164 of file joint-model-base.hpp.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<typename _Scalar , int _Options>

pinocchio::JointModelSphericalTpl< _Scalar, _Options >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived )

◆ setIndexes()

template<typename _Scalar , int _Options>

void pinocchio::JointModelBase< Derived >::setIndexes

inline

Definition at line 186 of file joint-model-base.hpp.

◆ shortname()

template<typename _Scalar , int _Options>

std::string pinocchio::JointModelSphericalTpl< _Scalar, _Options >::shortname ( ) const

inline

Definition at line 592 of file joint-spherical.hpp.

Member Data Documentation

◆ JointDerived

template<typename _Scalar , int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl<_Scalar, _Options> pinocchio::JointModelSphericalTpl< _Scalar, _Options >::JointDerived

Definition at line 476 of file joint-spherical.hpp.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

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

Member Typedef Documentation

◆ Base

Member Function Documentation

◆ calc() [1/5]

◆ calc() [2/5]

◆ calc() [3/5]

◆ calc() [4/5]

◆ calc() [5/5]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ forwardKinematics()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ setIndexes()

◆ shortname()

Member Data Documentation

◆ JointDerived

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