#include <joint-model-base.hpp>

Public Member Functions
template<typename ConfigVectorType >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const

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

template<typename Matrix6Type >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I=false) const

template<typename NewScalar >
CastType< NewScalar, Derived >::type	cast () const

JointDataDerived	createData () const

JointModelDerived &	derived ()

const JointModelDerived &	derived () const

void	disp (std::ostream &os) const

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

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

template<class OtherDerived >
bool	hasSameIndexes (const JointModelBase< OtherDerived > &other) const

JointIndex	id () const

JointIndex	id_impl () const

int	idx_q () const

int	idx_q_impl () const

int	idx_v () const

int	idx_v_impl () const

template<class OtherDerived >
bool	isEqual (const JointModelBase< OtherDerived > &) const

bool	isEqual (const JointModelBase< Derived > &other) const

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock (const Eigen::MatrixBase< D > &Mat) const
	Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat. More...

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock (Eigen::MatrixBase< D > &Mat) const

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock_impl (Eigen::MatrixBase< D > &Mat) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows_impl (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows_impl (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const

int	nq () const

int	nq_impl () const

int	nv () const

int	nv_impl () const

template<class OtherDerived >
bool	operator!= (const JointModelBase< OtherDerived > &other) const

template<class OtherDerived >
bool	operator== (const JointModelBase< OtherDerived > &other) const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

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

void	setIndexes_impl (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 traits< Derived >::JointDerived	JointDerived

Protected Member Functions
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes
JointIndex	i_id

int	i_q

int	i_v

Friends
std::ostream &	operator<< (std::ostream &os, const JointModelBase< Derived > &joint)

Detailed Description

template<typename Derived>
struct pinocchio::JointModelBase< Derived >

Definition at line 67 of file joint-model-base.hpp.

Constructor & Destructor Documentation

◆ JointModelBase() [1/2]

template<typename Derived>

pinocchio::JointModelBase< Derived >::JointModelBase ( )

inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 304 of file joint-model-base.hpp.

◆ JointModelBase() [2/2]

template<typename Derived>

pinocchio::JointModelBase< Derived >::JointModelBase ( const JointModelBase< Derived > & clone )

inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 311 of file joint-model-base.hpp.

Member Function Documentation

◆ calc() [1/2]

template<typename Derived>

template<typename ConfigVectorType >

void pinocchio::JointModelBase< Derived >::calc	(	JointDataDerived &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	qs
	)		const

inline

Definition at line 90 of file joint-model-base.hpp.

◆ calc() [2/2]

template<typename Derived>

template<typename ConfigVectorType , typename TangentVectorType >

void pinocchio::JointModelBase< Derived >::calc	(	JointDataDerived &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	qs,
		const Eigen::MatrixBase< TangentVectorType > &	vs
	)		const

inline

Definition at line 97 of file joint-model-base.hpp.

◆ calc_aba()

template<typename Derived>

template<typename Matrix6Type >

void pinocchio::JointModelBase< Derived >::calc_aba	(	JointDataDerived &	data,
		const Eigen::MatrixBase< Matrix6Type > &	I,
		const bool	update_I = `false`
	)		const

inline

Definition at line 105 of file joint-model-base.hpp.

◆ cast()

template<typename Derived>

template<typename NewScalar >

CastType<NewScalar,Derived>::type pinocchio::JointModelBase< Derived >::cast ( ) const

inline

Definition at line 156 of file joint-model-base.hpp.

◆ classname()

template<typename Derived>

static std::string pinocchio::JointModelBase< Derived >::classname ( )

inlinestatic

Definition at line 153 of file joint-model-base.hpp.

◆ createData()

template<typename Derived>

JointDataDerived pinocchio::JointModelBase< Derived >::createData ( ) const

inline

Definition at line 77 of file joint-model-base.hpp.

◆ derived() [1/2]

template<typename Derived>

JointModelDerived& pinocchio::JointModelBase< Derived >::derived ( )

inline

Definition at line 74 of file joint-model-base.hpp.

◆ derived() [2/2]

template<typename Derived>

const JointModelDerived& pinocchio::JointModelBase< Derived >::derived ( ) const

inline

Definition at line 75 of file joint-model-base.hpp.

◆ disp()

template<typename Derived>

void pinocchio::JointModelBase< Derived >::disp ( std::ostream & os ) const

inline

Definition at line 133 of file joint-model-base.hpp.

◆ hasConfigurationLimit()

template<typename Derived>

const std::vector<bool> pinocchio::JointModelBase< Derived >::hasConfigurationLimit ( ) const

inline

Definition at line 79 of file joint-model-base.hpp.

◆ hasConfigurationLimitInTangent()

template<typename Derived>

const std::vector<bool> pinocchio::JointModelBase< Derived >::hasConfigurationLimitInTangent ( ) const

inline

Definition at line 84 of file joint-model-base.hpp.

◆ hasSameIndexes()

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::hasSameIndexes ( const JointModelBase< OtherDerived > & other ) const

inline

Definition at line 177 of file joint-model-base.hpp.

◆ id()

template<typename Derived>

JointIndex pinocchio::JointModelBase< Derived >::id ( ) const

inline

Definition at line 121 of file joint-model-base.hpp.

◆ id_impl()

template<typename Derived>

JointIndex pinocchio::JointModelBase< Derived >::id_impl ( ) const

inline

Definition at line 125 of file joint-model-base.hpp.

◆ idx_q()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_q ( ) const

inline

Definition at line 119 of file joint-model-base.hpp.

◆ idx_q_impl()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_q_impl ( ) const

inline

Definition at line 123 of file joint-model-base.hpp.

◆ idx_v()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_v ( ) const

inline

Definition at line 120 of file joint-model-base.hpp.

◆ idx_v_impl()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_v_impl ( ) const

inline

Definition at line 124 of file joint-model-base.hpp.

◆ isEqual() [1/2]

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::isEqual ( const JointModelBase< OtherDerived > & ) const

inline

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

◆ isEqual() [2/2]

template<typename Derived>

bool pinocchio::JointModelBase< Derived >::isEqual ( const JointModelBase< Derived > & other ) const

inline

Definition at line 171 of file joint-model-base.hpp.

◆ jointBlock() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointBlock ( const Eigen::MatrixBase< D > & Mat ) const

inline

Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

Definition at line 280 of file joint-model-base.hpp.

◆ jointBlock() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::Type pinocchio::JointModelBase< Derived >::jointBlock ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 291 of file joint-model-base.hpp.

◆ jointBlock_impl() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointBlock_impl ( const Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 285 of file joint-model-base.hpp.

◆ jointBlock_impl() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::Type pinocchio::JointModelBase< Derived >::jointBlock_impl ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 296 of file joint-model-base.hpp.

◆ jointCols() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointCols ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 234 of file joint-model-base.hpp.

◆ jointCols() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointCols ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 245 of file joint-model-base.hpp.

◆ jointCols_impl() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointCols_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 239 of file joint-model-base.hpp.

◆ jointCols_impl() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointCols_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 250 of file joint-model-base.hpp.

◆ jointConfigSelector() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointConfigSelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 188 of file joint-model-base.hpp.

◆ jointConfigSelector() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointConfigSelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 199 of file joint-model-base.hpp.

◆ jointConfigSelector_impl() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointConfigSelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 193 of file joint-model-base.hpp.

◆ jointConfigSelector_impl() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointConfigSelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 204 of file joint-model-base.hpp.

◆ jointRows() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointRows ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 257 of file joint-model-base.hpp.

◆ jointRows() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointRows ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 268 of file joint-model-base.hpp.

◆ jointRows_impl() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointRows_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 262 of file joint-model-base.hpp.

◆ jointRows_impl() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointRows_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 273 of file joint-model-base.hpp.

◆ jointVelocitySelector() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointVelocitySelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 211 of file joint-model-base.hpp.

◆ jointVelocitySelector() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointVelocitySelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 222 of file joint-model-base.hpp.

◆ jointVelocitySelector_impl() [1/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointVelocitySelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 216 of file joint-model-base.hpp.

◆ jointVelocitySelector_impl() [2/2]

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointVelocitySelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 227 of file joint-model-base.hpp.

◆ nq()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nq ( ) const

inline

Definition at line 113 of file joint-model-base.hpp.

◆ nq_impl()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nq_impl ( ) const

inline

Definition at line 117 of file joint-model-base.hpp.

◆ nv()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nv ( ) const

inline

Definition at line 112 of file joint-model-base.hpp.

◆ nv_impl()

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nv_impl ( ) const

inline

Definition at line 116 of file joint-model-base.hpp.

◆ operator!=()

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::operator!= ( const JointModelBase< OtherDerived > & other ) const

inline

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

◆ operator=()

template<typename Derived>

JointModelBase& pinocchio::JointModelBase< Derived >::operator= ( const JointModelBase< Derived > & clone )

inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 318 of file joint-model-base.hpp.

◆ operator==()

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::operator== ( const JointModelBase< OtherDerived > & other ) const

inline

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

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<typename Derived>

pinocchio::JointModelBase< Derived >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived )

◆ setIndexes()

template<typename Derived>

void pinocchio::JointModelBase< Derived >::setIndexes	(	JointIndex	id,
		int	q,
		int	v
	)

inline

Definition at line 127 of file joint-model-base.hpp.

◆ setIndexes_impl()

template<typename Derived>

void pinocchio::JointModelBase< Derived >::setIndexes_impl	(	JointIndex	id,
		int	q,
		int	v
	)

inline

Definition at line 130 of file joint-model-base.hpp.

◆ shortname()

template<typename Derived>

std::string pinocchio::JointModelBase< Derived >::shortname ( ) const

inline

Definition at line 152 of file joint-model-base.hpp.

Friends And Related Function Documentation

◆ operator<<

template<typename Derived>

std::ostream& operator<<	(	std::ostream &	os,
		const JointModelBase< Derived > &	joint
	)

friend

Definition at line 146 of file joint-model-base.hpp.

Member Data Documentation

◆ i_id

template<typename Derived>

JointIndex pinocchio::JointModelBase< Derived >::i_id

protected

Definition at line 327 of file joint-model-base.hpp.

◆ i_q

template<typename Derived>

int pinocchio::JointModelBase< Derived >::i_q

protected

Definition at line 328 of file joint-model-base.hpp.

◆ i_v

template<typename Derived>

int pinocchio::JointModelBase< Derived >::i_v

protected

Definition at line 329 of file joint-model-base.hpp.

◆ JointDerived

template<typename Derived>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits<Derived>::JointDerived pinocchio::JointModelBase< Derived >::JointDerived

Definition at line 71 of file joint-model-base.hpp.

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

joint-model-base.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename Derived> struct pinocchio::JointModelBase< Derived >

Constructor & Destructor Documentation

◆ JointModelBase() [1/2]

◆ JointModelBase() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ derived() [1/2]

◆ derived() [2/2]

◆ disp()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ hasSameIndexes()

◆ id()

◆ id_impl()

◆ idx_q()

◆ idx_q_impl()

◆ idx_v()

◆ idx_v_impl()

◆ isEqual() [1/2]

◆ isEqual() [2/2]

◆ jointBlock() [1/2]

◆ jointBlock() [2/2]

◆ jointBlock_impl() [1/2]

◆ jointBlock_impl() [2/2]

◆ jointCols() [1/2]

◆ jointCols() [2/2]

◆ jointCols_impl() [1/2]

◆ jointCols_impl() [2/2]

◆ jointConfigSelector() [1/2]

◆ jointConfigSelector() [2/2]

◆ jointConfigSelector_impl() [1/2]

◆ jointConfigSelector_impl() [2/2]

◆ jointRows() [1/2]

◆ jointRows() [2/2]

◆ jointRows_impl() [1/2]

◆ jointRows_impl() [2/2]

◆ jointVelocitySelector() [1/2]

◆ jointVelocitySelector() [2/2]

◆ jointVelocitySelector_impl() [1/2]

◆ jointVelocitySelector_impl() [2/2]

◆ nq()

◆ nq_impl()

◆ nv()

◆ nv_impl()

◆ operator!=()

◆ operator=()

◆ operator==()

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ setIndexes()

◆ setIndexes_impl()

◆ shortname()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ i_id

◆ i_q

◆ i_v

◆ JointDerived

template<typename Derived>
struct pinocchio::JointModelBase< Derived >