#include <fwd.hpp>

Inheritance diagram for pinocchio::JointModelSphericalTpl< _Scalar, _Options >:

Public Types
typedef JointModelBase< JointModelSphericalTpl >	Base

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

template<typename ConfigVector >
EIGEN_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::PlainObjectBase< ConfigVector > &qs) 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 Matrix6Like >
void	calc_aba (JointDataDerived &data, 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

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

std::string	shortname () const

Public Member Functions inherited from pinocchio::JointModelBase< JointModelSphericalTpl< _Scalar, _Options > >
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, JointModelSphericalTpl< _Scalar, _Options > >::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< JointModelSphericalTpl< _Scalar, _Options > > &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< JointModelSphericalTpl< _Scalar, _Options > >
static std::string	classname ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointSphericalTpl< _Scalar, _Options >	JointDerived

Public Attributes inherited from pinocchio::JointModelBase< JointModelSphericalTpl< _Scalar, _Options > >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< JointModelSphericalTpl< _Scalar, _Options > >::JointDerived	JointDerived

Additional Inherited Members
Protected Member Functions inherited from pinocchio::JointModelBase< JointModelSphericalTpl< _Scalar, _Options > >
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes inherited from pinocchio::JointModelBase< JointModelSphericalTpl< _Scalar, _Options > >
JointIndex	i_id

int	i_q

int	i_v

Detailed Description

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

Definition at line 42 of file src/multibody/joint/fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options>

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

Definition at line 411 of file joint-spherical.hpp.

Member Function Documentation

◆ calc() [1/4]

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 446 of file joint-spherical.hpp.

◆ calc() [2/4]

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 454 of file joint-spherical.hpp.

◆ calc() [3/4]

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 466 of file joint-spherical.hpp.

◆ calc() [4/4]

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 476 of file joint-spherical.hpp.

◆ calc_aba()

template<typename _Scalar, int _Options>

template<typename Matrix6Like >

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

inline

Definition at line 486 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 515 of file joint-spherical.hpp.

◆ classname()

template<typename _Scalar, int _Options>

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

inlinestatic

Definition at line 510 of file joint-spherical.hpp.

◆ createData()

template<typename _Scalar, int _Options>

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

inline

Definition at line 417 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 430 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 419 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 424 of file joint-spherical.hpp.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<typename _Scalar, int _Options>

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

◆ shortname()

template<typename _Scalar, int _Options>

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

inline

Definition at line 511 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 408 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

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Base

Member Function Documentation

◆ calc() [1/4]

◆ calc() [2/4]

◆ calc() [3/4]

◆ calc() [4/4]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ forwardKinematics()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ shortname()

Member Data Documentation

◆ JointDerived

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