#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

void	disp (std::ostream &os) 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

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointExtendedModelCols (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType	jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type	jointExtendedModelCols_impl (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	JointMappedConfigSelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	JointMappedConfigSelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type	JointMappedConfigSelector_impl (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	JointMappedVelocitySelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type	JointMappedVelocitySelector_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

int	nvExtended_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, int vExtended)
	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...

std::vector< int >	m_idx_vExtended
	Index in the jacobian matrix. 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

int	m_nvExtended

std::vector< int >	m_nvExtendeds
	Dimension of the segment in the jacobian matrix. More...

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 187 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 182 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 179 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 183 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 186 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 185 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 201 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 212 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 237 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 259 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 286 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 354 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 440 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 393 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 301 of file joint-composite.hpp.

◆ disp()

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

void pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::disp ( std::ostream & os ) const

inline

Definition at line 626 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 310 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 321 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 422 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 527 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 538 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 603 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 615 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 488 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 494 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 551 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 557 of file joint-composite.hpp.

◆ jointExtendedModelCols() [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 >::jointExtendedModelCols ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 533 of file joint-composite.hpp.

◆ jointExtendedModelCols() [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 >::jointExtendedModelCols ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 544 of file joint-composite.hpp.

◆ jointExtendedModelCols_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 >::jointExtendedModelCols_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 609 of file joint-composite.hpp.

◆ jointExtendedModelCols_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 >::jointExtendedModelCols_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 621 of file joint-composite.hpp.

◆ JointMappedConfigSelector() [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 >::JointMappedConfigSelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 475 of file joint-composite.hpp.

◆ JointMappedConfigSelector() [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 >::JointMappedConfigSelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 481 of file joint-composite.hpp.

◆ JointMappedConfigSelector_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 >::JointMappedConfigSelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 564 of file joint-composite.hpp.

◆ JointMappedConfigSelector_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 >::JointMappedConfigSelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 570 of file joint-composite.hpp.

◆ JointMappedVelocitySelector() [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 >::JointMappedVelocitySelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 501 of file joint-composite.hpp.

◆ JointMappedVelocitySelector() [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 >::JointMappedVelocitySelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 507 of file joint-composite.hpp.

◆ JointMappedVelocitySelector_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 >::JointMappedVelocitySelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 577 of file joint-composite.hpp.

◆ JointMappedVelocitySelector_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 >::JointMappedVelocitySelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 583 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 514 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 520 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 590 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 596 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 375 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 371 of file joint-composite.hpp.

◆ nvExtended_impl()

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

int pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::nvExtended_impl ( ) const

inline

Definition at line 379 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 402 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,
		int	vExtended
	)

inline

Update the indexes of subjoints in the stack.

Definition at line 387 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 397 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 644 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 339 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 333 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 640 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 637 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 178 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 468 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 680 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 684 of file joint-composite.hpp.

◆ m_idx_vExtended

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

std::vector<int> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_idx_vExtended

protected

Index in the jacobian matrix.

Definition at line 688 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 675 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 682 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 675 of file joint-composite.hpp.

◆ m_nvExtended

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

int pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_nvExtended

protected

Definition at line 675 of file joint-composite.hpp.

◆ m_nvExtendeds

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

std::vector<int> pinocchio::JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >::m_nvExtendeds

protected

Dimension of the segment in the jacobian matrix.

Definition at line 690 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 686 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 694 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()

◆ disp()

◆ 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]

◆ jointExtendedModelCols() [1/2]

◆ jointExtendedModelCols() [2/2]

◆ jointExtendedModelCols_impl() [1/2]

◆ jointExtendedModelCols_impl() [2/2]

◆ JointMappedConfigSelector() [1/2]

◆ JointMappedConfigSelector() [2/2]

◆ JointMappedConfigSelector_impl() [1/2]

◆ JointMappedConfigSelector_impl() [2/2]

◆ JointMappedVelocitySelector() [1/2]

◆ JointMappedVelocitySelector() [2/2]

◆ JointMappedVelocitySelector_impl() [1/2]

◆ JointMappedVelocitySelector_impl() [2/2]

◆ jointVelocitySelector() [1/2]

◆ jointVelocitySelector() [2/2]

◆ jointVelocitySelector_impl() [1/2]

◆ jointVelocitySelector_impl() [2/2]

◆ nq_impl()

◆ nv_impl()

◆ nvExtended_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_idx_vExtended

◆ m_nq

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