Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Friends | List of all members
pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference

#include <fwd.hpp>

Inheritance diagram for pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:
Inheritance graph
[legend]

Public Types

typedef InertiaTpl< Scalar, OptionsInertia
 
typedef JointCollectionTpl< Scalar, OptionsJointCollection
 
typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
 
typedef JointModelTpl< Scalar, Options, JointCollectionTpl > JointModel
 
typedef JointModel JointModelVariant
 
typedef MotionTpl< Scalar, OptionsMotion
 
typedef SE3Tpl< Scalar, OptionsSE3
 

Public Member Functions

template<typename JointModel >
JointModelDerived & addJoint (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
 Add a joint to the vector of joints. More...
 
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 Matrix6Like >
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const
 
template<typename NewScalar >
JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl > cast () const
 
JointDataDerived createData () const
 
const std::vector< bool > hasConfigurationLimit () const
 
const std::vector< bool > hasConfigurationLimitInTangent () const
 
bool isEqual (const JointModelCompositeTpl &other) 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< Eigen::Dynamic >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
 JointModelCompositeTpl ()
 Default contructor. More...
 
 JointModelCompositeTpl (const size_t size)
 Default contructor with a defined size. More...
 
template<typename JointModel >
 JointModelCompositeTpl (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity())
 Constructor with one joint. More...
 
 JointModelCompositeTpl (const JointModelCompositeTpl &other)
 Copy constructor. More...
 
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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
 
int nq_impl () const
 
int nv_impl () const
 
JointModelCompositeTploperator= (const JointModelCompositeTpl &other)
 
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointModel) JointModelVector
 
 PINOCCHIO_ALIGNED_STD_VECTOR (SE3) jointPlacements
 Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent. More...
 
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
 
void setIndexes_impl (JointIndex id, int q, int v)
 Update the indexes of subjoints in the stack. More...
 
std::string shortname () const
 
- Public Member Functions inherited from pinocchio::JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
 
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I=false) const
 
CastType< NewScalar, JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::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
 
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
 
bool isEqual (const JointModelBase< OtherDerived > &) const
 
bool isEqual (const JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
 
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...
 
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock (Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock_impl (Eigen::MatrixBase< D > &Mat) const
 
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::Type jointCols (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template RowsReturn< D >::Type jointRows (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows_impl (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template RowsReturn< D >::Type jointRows_impl (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
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
 
bool operator!= (const JointModelBase< OtherDerived > &other) const
 
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 ()
 
- Static Public Member Functions inherited from pinocchio::JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string classname ()
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointModelBase< JointModelCompositeTplBase
 
JointModelVector joints
 Vector of joints contained in the joint composite. More...
 
int njoints
 Number of joints contained in the JointModelComposite. More...
 
- Public Attributes inherited from pinocchio::JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived JointDerived
 

Protected Member Functions

void updateJointIndexes ()
 Update the indexes of the joints contained in the composition according to the position of the joint composite. More...
 
- Protected Member Functions inherited from pinocchio::JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBaseoperator= (const JointModelBase &clone)
 

Protected Attributes

std::vector< int > m_idx_q
 Keep information of both the dimension and the position of the joints in the composition. More...
 
std::vector< int > m_idx_v
 Index in the tangent vector. More...
 
int m_nq
 Dimensions of the config and tangent space of the composite joint. More...
 
std::vector< int > m_nqs
 Dimension of the segment in the config vector. More...
 
int m_nv
 
std::vector< int > m_nvs
 Dimension of the segment in the tangent vector. More...
 
- Protected Attributes inherited from pinocchio::JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
JointIndex i_id
 
int i_q
 
int i_v
 

Friends

template<typename , int , template< typename S, int O > class, typename , typename >
struct JointCompositeCalcFirstOrderStep
 
template<typename , int , template< typename S, int O > class, typename >
struct JointCompositeCalcZeroOrderStep
 
template<typename , int , template< typename, int > class>
struct JointModelCompositeTpl
 
struct Serialize< JointModelCompositeTpl >
 

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
struct pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 85 of file src/multibody/joint/fwd.hpp.

Member Typedef Documentation

◆ Inertia

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef InertiaTpl<Scalar,Options> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::Inertia

Definition at line 164 of file joint-composite.hpp.

◆ JointCollection

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointCollectionTpl<Scalar,Options> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointCollection

Definition at line 158 of file joint-composite.hpp.

◆ JointDerived

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointCompositeTpl<_Scalar,_Options,JointCollectionTpl> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointDerived

Definition at line 155 of file joint-composite.hpp.

◆ JointModel

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointModelTpl<Scalar,Options,JointCollectionTpl> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointModel

Definition at line 159 of file joint-composite.hpp.

◆ JointModelVariant

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointModel pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointModelVariant

Definition at line 160 of file joint-composite.hpp.

◆ Motion

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef MotionTpl<Scalar,Options> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::Motion

Definition at line 163 of file joint-composite.hpp.

◆ SE3

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef SE3Tpl<Scalar,Options> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::SE3

Definition at line 162 of file joint-composite.hpp.

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/4]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointModelCompositeTpl ( )
inline

Default contructor.

Definition at line 176 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [2/4]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointModelCompositeTpl ( const size_t  size)
inline

Default contructor with a defined size.

Definition at line 185 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [3/4]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename JointModel >
pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointModelCompositeTpl ( const JointModelBase< JointModel > &  jmodel,
const SE3 placement = SE3::Identity() 
)
inline

Constructor with one joint.

Parameters
jmodelModel of the first joint.
placementPlacement of the first joint w.r.t. the joint origin.

Definition at line 204 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [4/4]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::JointModelCompositeTpl ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > &  other)
inline

Copy constructor.

Parameters
otherJointModel to copy.

Definition at line 220 of file joint-composite.hpp.

Member Function Documentation

◆ addJoint()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename JointModel >
JointModelDerived& pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::addJoint ( const JointModelBase< JointModel > &  jmodel,
const SE3 placement = SE3::Identity() 
)
inline

Add a joint to the vector of joints.

Parameters
jmodelModel of the joint to add.
placementPlacement of the joint relatively to its predecessor.
Returns
A reference to *this

Definition at line 241 of file joint-composite.hpp.

◆ calc() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename ConfigVectorType >
void pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::calc ( JointDataDerived &  data,
const Eigen::MatrixBase< ConfigVectorType > &  qs 
) const

◆ calc() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename ConfigVectorType , typename TangentVectorType >
void pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::calc ( JointDataDerived &  data,
const Eigen::MatrixBase< ConfigVectorType > &  qs,
const Eigen::MatrixBase< TangentVectorType > &  vs 
) const

◆ calc_aba()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename Matrix6Like >
void pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::calc_aba ( JointDataDerived &  data,
const Eigen::MatrixBase< Matrix6Like > &  I,
const bool  update_I 
) const
inline

Definition at line 304 of file joint-composite.hpp.

◆ cast()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename NewScalar >
JointModelCompositeTpl<NewScalar,Options,JointCollectionTpl> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::cast ( ) const
inline
Returns
An expression of *this with the Scalar type casted to NewScalar.

Definition at line 369 of file joint-composite.hpp.

◆ classname()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
static std::string pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::classname ( )
inlinestatic

Definition at line 333 of file joint-composite.hpp.

◆ createData()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataDerived pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::createData ( ) const
inline

Definition at line 255 of file joint-composite.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
const std::vector<bool> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::hasConfigurationLimit ( ) const
inline

Definition at line 263 of file joint-composite.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
const std::vector<bool> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::hasConfigurationLimitInTangent ( ) const
inline

Definition at line 276 of file joint-composite.hpp.

◆ isEqual()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
bool pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::isEqual ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > &  other) const
inline

Definition at line 353 of file joint-composite.hpp.

◆ jointCols() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::ConstType pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointCols ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 414 of file joint-composite.hpp.

◆ jointCols() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::Type pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointCols ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 417 of file joint-composite.hpp.

◆ jointCols_impl() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<Eigen::Dynamic>::template ColsReturn<D>::ConstType pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointCols_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 434 of file joint-composite.hpp.

◆ jointCols_impl() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<Eigen::Dynamic>::template ColsReturn<D>::Type pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointCols_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 437 of file joint-composite.hpp.

◆ jointConfigSelector() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::ConstType pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointConfigSelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 400 of file joint-composite.hpp.

◆ jointConfigSelector() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::Type pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointConfigSelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 403 of file joint-composite.hpp.

◆ jointConfigSelector_impl() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<Eigen::Dynamic>::template SegmentReturn<D>::ConstType pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 421 of file joint-composite.hpp.

◆ jointConfigSelector_impl() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<Eigen::Dynamic>::template SegmentReturn<D>::Type pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 424 of file joint-composite.hpp.

◆ jointVelocitySelector() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointVelocitySelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 407 of file joint-composite.hpp.

◆ jointVelocitySelector() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointVelocitySelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 410 of file joint-composite.hpp.

◆ jointVelocitySelector_impl() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<Eigen::Dynamic>::template SegmentReturn<D>::ConstType pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 427 of file joint-composite.hpp.

◆ jointVelocitySelector_impl() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename D >
SizeDepType<Eigen::Dynamic>::template SegmentReturn<D>::Type pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::jointVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 430 of file joint-composite.hpp.

◆ nq_impl()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
int pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::nq_impl ( ) const
inline

Definition at line 322 of file joint-composite.hpp.

◆ nv_impl()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
int pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::nv_impl ( ) const
inline

Definition at line 321 of file joint-composite.hpp.

◆ operator=()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointModelCompositeTpl& pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::operator= ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > &  other)
inline

Definition at line 336 of file joint-composite.hpp.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( JointModel  )

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( SE3  )

Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived  )

◆ setIndexes_impl()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
void pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::setIndexes_impl ( JointIndex  id,
int  q,
int  v 
)
inline

Update the indexes of subjoints in the stack.

Definition at line 327 of file joint-composite.hpp.

◆ shortname()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
std::string pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::shortname ( ) const
inline

Definition at line 334 of file joint-composite.hpp.

◆ updateJointIndexes()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
void pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::updateJointIndexes ( )
inlineprotected

Update the indexes of the joints contained in the composition according to the position of the joint composite.

Definition at line 449 of file joint-composite.hpp.

Friends And Related Function Documentation

◆ JointCompositeCalcFirstOrderStep

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename , int , template< typename S, int O > class, typename , typename >
friend struct JointCompositeCalcFirstOrderStep
friend

Definition at line 296 of file joint-composite.hpp.

◆ JointCompositeCalcZeroOrderStep

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename , int , template< typename S, int O > class, typename >
friend struct JointCompositeCalcZeroOrderStep
friend

Definition at line 290 of file joint-composite.hpp.

◆ JointModelCompositeTpl

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
template<typename , int , template< typename, int > class>
friend struct JointModelCompositeTpl
friend

Definition at line 445 of file joint-composite.hpp.

◆ Serialize< JointModelCompositeTpl >

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
friend struct Serialize< JointModelCompositeTpl >
friend

Definition at line 442 of file joint-composite.hpp.

Member Data Documentation

◆ Base

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointModelBase<JointModelCompositeTpl> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::Base

Definition at line 154 of file joint-composite.hpp.

◆ joints

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointModelVector pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::joints

Vector of joints contained in the joint composite.

Definition at line 394 of file joint-composite.hpp.

◆ m_idx_q

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_idx_q
protected

Keep information of both the dimension and the position of the joints in the composition.

Index in the config vector

Definition at line 478 of file joint-composite.hpp.

◆ m_idx_v

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_idx_v
protected

Index in the tangent vector.

Definition at line 482 of file joint-composite.hpp.

◆ m_nq

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
int pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_nq
protected

Dimensions of the config and tangent space of the composite joint.

Definition at line 473 of file joint-composite.hpp.

◆ m_nqs

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_nqs
protected

Dimension of the segment in the config vector.

Definition at line 480 of file joint-composite.hpp.

◆ m_nv

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
int pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_nv
protected

Definition at line 473 of file joint-composite.hpp.

◆ m_nvs

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
std::vector<int> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_nvs
protected

Dimension of the segment in the tangent vector.

Definition at line 484 of file joint-composite.hpp.

◆ njoints

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
int pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::njoints

Number of joints contained in the JointModelComposite.

Definition at line 488 of file joint-composite.hpp.


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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:35