#include <fwd.hpp>

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

Public Types
typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointCollection::JointDataVariant	JointDataVariant

typedef JointCollection::JointModelVariant	JointModelVariant

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

template<typename ConfigVector , typename TangentVector >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVector > &q, const Eigen::MatrixBase< TangentVector > &v) const

template<typename Matrix6Like >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const

template<typename NewScalar >
JointModelTpl< NewScalar, Options, JointCollectionTpl >	cast () const

JointDataDerived	createData () const

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

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

template<typename JointModelDerived >
bool	hasSameIndexes (const JointModelBase< JointModelDerived > &other) const

JointIndex	id_impl () const

int	idx_q_impl () const

int	idx_v_impl () const

template<typename JointModelDerived >
bool	isEqual (const JointModelBase< JointModelDerived > &other) const

bool	isEqual (const JointModelTpl &other) const

	JointModelTpl ()

	JointModelTpl (const JointModelVariant &jmodel_variant)

template<typename JointModelDerived >
	JointModelTpl (const JointModelBase< JointModelDerived > &jmodel)

int	nq_impl () const

int	nv_impl () const

bool	operator!= (const JointModelTpl &other) const

bool	operator== (const JointModelTpl &other) const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

	PINOCCHIO_JOINT_USE_INDEXES (JointModelTpl)

void	setIndexes (JointIndex id, int nq, int nv)

std::string	shortname () const

JointModelVariant &	toVariant ()

const JointModelVariant &	toVariant () const

Public Member Functions inherited from pinocchio::JointModelBase< JointModelTpl< _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, JointModelTpl< _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< JointModelTpl< _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< JointModelTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string	classname ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived

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

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

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

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

int	i_q

int	i_v

Detailed Description

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

Definition at line 93 of file src/multibody/joint/fwd.hpp.

Member Typedef Documentation

◆ JointCollection

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

typedef JointCollectionTpl<Scalar,Options> pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointCollection

Definition at line 172 of file joint-generic.hpp.

◆ JointDataVariant

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

typedef JointCollection::JointDataVariant pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointDataVariant

Definition at line 173 of file joint-generic.hpp.

◆ JointModelVariant

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

typedef JointCollection::JointModelVariant pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointModelVariant

Definition at line 174 of file joint-generic.hpp.

Constructor & Destructor Documentation

◆ JointModelTpl() [1/3]

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

pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointModelTpl ( )

inline

Definition at line 181 of file joint-generic.hpp.

◆ JointModelTpl() [2/3]

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

pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointModelTpl ( const JointModelVariant & jmodel_variant )

inline

Definition at line 183 of file joint-generic.hpp.

◆ JointModelTpl() [3/3]

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

template<typename JointModelDerived >

pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointModelTpl ( const JointModelBase< JointModelDerived > & jmodel )

inline

Definition at line 199 of file joint-generic.hpp.

Member Function Documentation

◆ calc() [1/2]

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

template<typename ConfigVector >

void pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::calc	(	JointDataDerived &	data,
		const Eigen::MatrixBase< ConfigVector > &	q
	)		const

inline

Definition at line 242 of file joint-generic.hpp.

◆ calc() [2/2]

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

template<typename ConfigVector , typename TangentVector >

void pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::calc	(	JointDataDerived &	data,
		const Eigen::MatrixBase< ConfigVector > &	q,
		const Eigen::MatrixBase< TangentVector > &	v
	)		const

inline

Definition at line 247 of file joint-generic.hpp.

◆ calc_aba()

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

template<typename Matrix6Like >

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

inline

Definition at line 253 of file joint-generic.hpp.

◆ cast()

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

template<typename NewScalar >

JointModelTpl<NewScalar,Options,JointCollectionTpl> pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 274 of file joint-generic.hpp.

◆ classname()

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

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

inlinestatic

Definition at line 257 of file joint-generic.hpp.

◆ createData()

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

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

inline

Definition at line 211 of file joint-generic.hpp.

◆ hasConfigurationLimit()

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

const std::vector<bool> pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::hasConfigurationLimit ( ) const

inline

Definition at line 188 of file joint-generic.hpp.

◆ hasConfigurationLimitInTangent()

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

const std::vector<bool> pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::hasConfigurationLimitInTangent ( ) const

inline

Definition at line 193 of file joint-generic.hpp.

◆ hasSameIndexes()

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

template<typename JointModelDerived >

bool pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::hasSameIndexes ( const JointModelBase< JointModelDerived > & other ) const

inline

Definition at line 221 of file joint-generic.hpp.

◆ id_impl()

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

JointIndex pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::id_impl ( ) const

inline

Definition at line 265 of file joint-generic.hpp.

◆ idx_q_impl()

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

int pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::idx_q_impl ( ) const

inline

Definition at line 262 of file joint-generic.hpp.

◆ idx_v_impl()

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

int pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::idx_v_impl ( ) const

inline

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

◆ isEqual() [1/2]

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

template<typename JointModelDerived >

bool pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::isEqual ( const JointModelBase< JointModelDerived > & other ) const

inline

Definition at line 215 of file joint-generic.hpp.

◆ isEqual() [2/2]

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

bool pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::isEqual ( const JointModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Definition at line 226 of file joint-generic.hpp.

◆ nq_impl()

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

int pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::nq_impl ( ) const

inline

Definition at line 259 of file joint-generic.hpp.

◆ nv_impl()

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

int pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::nv_impl ( ) const

inline

Definition at line 260 of file joint-generic.hpp.

◆ operator!=()

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

bool pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::operator!= ( const JointModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Definition at line 236 of file joint-generic.hpp.

◆ operator==()

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

bool pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::operator== ( const JointModelTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Definition at line 231 of file joint-generic.hpp.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

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

pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived )

◆ PINOCCHIO_JOINT_USE_INDEXES()

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

pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::PINOCCHIO_JOINT_USE_INDEXES ( JointModelTpl< _Scalar, _Options, JointCollectionTpl > )

◆ setIndexes()

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

void pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::setIndexes	(	JointIndex	id,
		int	nq,
		int	nv
	)

inline

Definition at line 267 of file joint-generic.hpp.

◆ shortname()

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

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

inline

Definition at line 256 of file joint-generic.hpp.

◆ toVariant() [1/2]

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

JointModelVariant& pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::toVariant ( )

inline

Definition at line 205 of file joint-generic.hpp.

◆ toVariant() [2/2]

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

const JointModelVariant& pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::toVariant ( ) const

inline

Definition at line 208 of file joint-generic.hpp.

Member Data Documentation

◆ JointDerived

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointTpl<_Scalar,_Options,JointCollectionTpl> pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointDerived

Definition at line 167 of file joint-generic.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, template< typename S, int O > class JointCollectionTpl> struct pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >

Member Typedef Documentation

◆ JointCollection

◆ JointDataVariant

◆ JointModelVariant

Constructor & Destructor Documentation

◆ JointModelTpl() [1/3]

◆ JointModelTpl() [2/3]

◆ JointModelTpl() [3/3]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ hasSameIndexes()

◆ id_impl()

◆ idx_q_impl()

◆ idx_v_impl()

◆ isEqual() [1/2]

◆ isEqual() [2/2]

◆ nq_impl()

◆ nv_impl()

◆ operator!=()

◆ operator==()

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ PINOCCHIO_JOINT_USE_INDEXES()

◆ setIndexes()

◆ shortname()

◆ toVariant() [1/2]

◆ toVariant() [2/2]

Member Data Documentation

◆ JointDerived

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