#include <fwd.hpp>

Public Types
typedef JointModelBase< JointModelHelicalTpl >	Base

typedef Eigen::Matrix< Scalar, 3, 1, _Options >	Vector3

Public Member Functions
template<typename TangentVector >
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &data, const Blank, const typename Eigen::MatrixBase< TangentVector > &vs) const

template<typename ConfigVector >
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs) const

template<typename ConfigVector , typename TangentVector >
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &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 >
JointModelHelicalTpl< NewScalar, Options, axis >	cast () const

JointDataDerived	createData () const

Vector3	getMotionAxis () const

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

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

JointIndex	id () const

int	idx_q () const

int	idx_v () const

int	idx_vExtended () const

	JointModelHelicalTpl ()

	JointModelHelicalTpl (const Scalar &h)

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

void	setIndexes (JointIndex id, int q, int v)

void	setIndexes (JointIndex id, int q, int v, int vExtended)

std::string	shortname () const

Static Public Member Functions
static std::string	classname ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointHelicalTpl< _Scalar, _Options, axis >	JointDerived

Scalar	m_pitch

Detailed Description

template<typename _Scalar, int _Options, int axis>
struct pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >

Definition at line 60 of file multibody/joint/fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options, int axis>

typedef JointModelBase<JointModelHelicalTpl> pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::Base

Definition at line 839 of file joint-helical.hpp.

◆ Vector3

template<typename _Scalar , int _Options, int axis>

typedef Eigen::Matrix<Scalar, 3, 1, _Options> pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::Vector3

Definition at line 846 of file joint-helical.hpp.

Constructor & Destructor Documentation

◆ JointModelHelicalTpl() [1/2]

template<typename _Scalar , int _Options, int axis>

pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::JointModelHelicalTpl ( )

inline

Definition at line 853 of file joint-helical.hpp.

◆ JointModelHelicalTpl() [2/2]

template<typename _Scalar , int _Options, int axis>

pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::JointModelHelicalTpl ( const Scalar & h )

inlineexplicit

Definition at line 857 of file joint-helical.hpp.

Member Function Documentation

◆ calc() [1/3]

template<typename _Scalar , int _Options, int axis>

template<typename TangentVector >

PINOCCHIO_DONT_INLINE void pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::calc	(	JointDataDerived &	data,
		const	Blank,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 885 of file joint-helical.hpp.

◆ calc() [2/3]

template<typename _Scalar , int _Options, int axis>

template<typename ConfigVector >

PINOCCHIO_DONT_INLINE void pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::calc	(	JointDataDerived &	data,
		const typename Eigen::MatrixBase< ConfigVector > &	qs
	)		const

inline

Definition at line 874 of file joint-helical.hpp.

◆ calc() [3/3]

template<typename _Scalar , int _Options, int axis>

template<typename ConfigVector , typename TangentVector >

PINOCCHIO_DONT_INLINE void pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::calc	(	JointDataDerived &	data,
		const typename Eigen::MatrixBase< ConfigVector > &	qs,
		const typename Eigen::MatrixBase< TangentVector > &	vs
	)		const

inline

Definition at line 894 of file joint-helical.hpp.

◆ calc_aba()

template<typename _Scalar , int _Options, int axis>

template<typename VectorLike , typename Matrix6Like >

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

inline

Definition at line 907 of file joint-helical.hpp.

◆ cast()

template<typename _Scalar , int _Options, int axis>

template<typename NewScalar >

JointModelHelicalTpl<NewScalar, Options, axis> pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::cast ( ) const

inline

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

Definition at line 950 of file joint-helical.hpp.

◆ classname()

template<typename _Scalar , int _Options, int axis>

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

inlinestatic

Definition at line 923 of file joint-helical.hpp.

◆ createData()

template<typename _Scalar , int _Options, int axis>

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

inline

Definition at line 848 of file joint-helical.hpp.

◆ getMotionAxis()

template<typename _Scalar , int _Options, int axis>

Vector3 pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::getMotionAxis ( ) const

inline

Definition at line 932 of file joint-helical.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar , int _Options, int axis>

const std::vector<bool> pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::hasConfigurationLimit ( ) const

inline

Definition at line 862 of file joint-helical.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar , int _Options, int axis>

const std::vector<bool> pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::hasConfigurationLimitInTangent ( ) const

inline

Definition at line 867 of file joint-helical.hpp.

◆ id()

template<typename _Scalar , int _Options, int axis>

JointIndex pinocchio::JointModelBase< Derived >::id

inline

Definition at line 183 of file joint-model-base.hpp.

◆ idx_q()

template<typename _Scalar , int _Options, int axis>

int pinocchio::JointModelBase< Derived >::idx_q

inline

Definition at line 171 of file joint-model-base.hpp.

◆ idx_v()

template<typename _Scalar , int _Options, int axis>

int pinocchio::JointModelBase< Derived >::idx_v

inline

Definition at line 175 of file joint-model-base.hpp.

◆ idx_vExtended()

template<typename _Scalar , int _Options, int axis>

int pinocchio::JointModelBase< Derived >::idx_vExtended

inline

Definition at line 179 of file joint-model-base.hpp.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<typename _Scalar , int _Options, int axis>

pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived )

◆ setIndexes() [1/2]

template<typename _Scalar , int _Options, int axis>

void pinocchio::JointModelBase< Derived >::setIndexes

inline

Definition at line 205 of file joint-model-base.hpp.

◆ setIndexes() [2/2]

template<typename _Scalar , int _Options, int axis>

void pinocchio::JointModelBase< Derived >::setIndexes

inline

Definition at line 210 of file joint-model-base.hpp.

◆ shortname()

template<typename _Scalar , int _Options, int axis>

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

inline

Definition at line 927 of file joint-helical.hpp.

Member Data Documentation

◆ JointDerived

template<typename _Scalar , int _Options, int axis>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointHelicalTpl<_Scalar, _Options, axis> pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::JointDerived

Definition at line 836 of file joint-helical.hpp.

◆ m_pitch

template<typename _Scalar , int _Options, int axis>

Scalar pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >::m_pitch

Definition at line 958 of file joint-helical.hpp.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

template<typename _Scalar, int _Options, int axis> struct pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >

Member Typedef Documentation

◆ Base

◆ Vector3

Constructor & Destructor Documentation

◆ JointModelHelicalTpl() [1/2]

◆ JointModelHelicalTpl() [2/2]

Member Function Documentation

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ getMotionAxis()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ shortname()

Member Data Documentation

◆ JointDerived

◆ m_pitch

template<typename _Scalar, int _Options, int axis>
struct pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >