joint-model-base.hpp File Reference

#include "pinocchio/multibody/joint/joint-base.hpp"
#include "pinocchio/multibody/joint/joint-common-operations.hpp"
#include "pinocchio/math/matrix-block.hpp"
#include <limits>

Include dependency graph for joint-model-base.hpp:

Go to the source code of this file.

Classes
struct	pinocchio::JointModelBase< Derived >

Namespaces
	pinocchio
	Main pinocchio namespace.

Macros
#define	PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelTpl)
#define	PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, TYPENAME)
#define	PINOCCHIO_JOINT_TYPEDEF(Joint)   PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename)
#define	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(Joint)   PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename)
#define	PINOCCHIO_JOINT_USE_INDEXES(Joint)

Macro Definition Documentation

PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION

#define PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION

(

JointModelTpl

)

Value:

template<typename Scalar, int Options, typename NewScalar> \
struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
{ typedef JointModelTpl<NewScalar,Options> type; }

Definition at line 58 of file joint-model-base.hpp.

PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC

#define PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC	(		Joint,
			TYPENAME
	)

Value:

typedef Eigen::DenseIndex Index;                \
  typedef TYPENAME traits<Joint>::Scalar Scalar;    \
  typedef TYPENAME traits<Joint>::JointDataDerived JointDataDerived;        \
  typedef TYPENAME traits<Joint>::JointModelDerived JointModelDerived;      \
  typedef TYPENAME traits<Joint>::Constraint_t Constraint_t;      \
  typedef TYPENAME traits<Joint>::Transformation_t Transformation_t; \
  typedef TYPENAME traits<Joint>::Motion_t Motion_t;        \
  typedef TYPENAME traits<Joint>::Bias_t Bias_t;        \
  typedef TYPENAME traits<Joint>::U_t U_t;       \
  typedef TYPENAME traits<Joint>::D_t D_t;       \
  typedef TYPENAME traits<Joint>::UD_t UD_t;       \
  enum {                  \
    Options = traits<Joint>::Options,    \
    NQ = traits<Joint>::NQ,              \
    NV = traits<Joint>::NV               \
  };                        \
  typedef TYPENAME traits<Joint>::ConfigVector_t ConfigVector_t;        \
  typedef TYPENAME traits<Joint>::TangentVector_t TangentVector_t

Definition at line 16 of file joint-model-base.hpp.

PINOCCHIO_JOINT_TYPEDEF

#define PINOCCHIO_JOINT_TYPEDEF

(

Joint

)

PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename)

Definition at line 48 of file joint-model-base.hpp.

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE

#define PINOCCHIO_JOINT_TYPEDEF_TEMPLATE

(

Joint

)

PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename)

Definition at line 49 of file joint-model-base.hpp.

PINOCCHIO_JOINT_USE_INDEXES

#define PINOCCHIO_JOINT_USE_INDEXES

(

Joint

)

Value:

typedef JointModelBase<Joint> Base; \
  using Base::idx_q; \
  using Base::idx_v

Definition at line 53 of file joint-model-base.hpp.