#include <fwd.hpp>

Public Types
typedef InertiaTpl< Scalar, Options >	Inertia

typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived

typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	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 TangentVectorType >
void	calc (JointDataDerived &data, const Blank blank, const Eigen::MatrixBase< TangentVectorType > &vs) const

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 VectorLike , typename Matrix6Like >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, 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...

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...

	JointModelCompositeTpl (const size_t size)
	Default contructor with a defined size. 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 (JointModelVariant) 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

Static Public Member Functions
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...

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 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...

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 141 of file 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 191 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 186 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 183 of file joint-composite.hpp.

◆ JointModelVariant

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

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

Definition at line 187 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 190 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 189 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 203 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 213 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 235 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 254 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 278 of file joint-composite.hpp.

◆ calc() [1/3]

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

template<typename TangentVectorType >

void pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::calc	(	JointDataDerived &	data,
		const Blank	blank,
		const Eigen::MatrixBase< TangentVectorType > &	vs
	)		const

◆ calc() [2/3]

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() [3/3]

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 VectorLike , typename Matrix6Like >

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

inline

Definition at line 345 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 421 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 380 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 292 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 301 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 312 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 406 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 479 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 484 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 516 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 522 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 453 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 459 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 491 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 497 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 466 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 472 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 503 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 509 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 366 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 362 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 389 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 ( JointModelVariant )

◆ 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 374 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 384 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 535 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 330 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 324 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 531 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 528 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 182 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 446 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 565 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 569 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 560 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 567 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 560 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 571 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 575 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

◆ JointModelVariant

◆ Motion

◆ SE3

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/4]

◆ JointModelCompositeTpl() [2/4]

◆ JointModelCompositeTpl() [3/4]

◆ JointModelCompositeTpl() [4/4]

Member Function Documentation

◆ addJoint()

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ 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 >