#include <fwd.hpp>

Inheritance diagram for pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:

Public Types
typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModel

typedef JointModel	JointModelVariant

typedef MotionTpl< Scalar, Options >	Motion

typedef SE3Tpl< Scalar, Options >	SE3

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

JointModelCompositeTpl &	operator= (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< JointModelCompositeTpl >	Base

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)

JointModelBase &	operator= (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

jmodel	Model of the first joint.
placement	Placement 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

other JointModel 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

jmodel	Model of the joint to add.
placement	Placement 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:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

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

Member Typedef Documentation

◆ Inertia

◆ JointCollection

◆ JointDerived

◆ JointModel

◆ JointModelVariant

◆ Motion

◆ SE3

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/4]

◆ JointModelCompositeTpl() [2/4]

◆ JointModelCompositeTpl() [3/4]

◆ JointModelCompositeTpl() [4/4]

Member Function Documentation

◆ addJoint()

◆ calc() [1/2]

◆ calc() [2/2]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ isEqual()

◆ 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]

◆ jointVelocitySelector() [1/2]

◆ jointVelocitySelector() [2/2]

◆ jointVelocitySelector_impl() [1/2]

◆ jointVelocitySelector_impl() [2/2]

◆ nq_impl()

◆ nv_impl()

◆ operator=()

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/2]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/2]

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ setIndexes_impl()

◆ shortname()

◆ updateJointIndexes()

Friends And Related Function Documentation

◆ JointCompositeCalcFirstOrderStep

◆ JointCompositeCalcZeroOrderStep

◆ JointModelCompositeTpl

◆ Serialize< JointModelCompositeTpl >

Member Data Documentation

◆ Base

◆ joints

◆ m_idx_q

◆ m_idx_v

◆ m_nq

◆ m_nqs

◆ m_nv

◆ m_nvs

◆ njoints

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