#include <fwd.hpp>

Public Types
typedef JointCollectionTpl< Scalar, Options >	JointCollection

typedef JointCollection::JointDataVariant	JointDataVariant

typedef JointCollection::JointModelVariant	JointModelVariant

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

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 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 >
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

int	idx_vExtended_impl () const

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

bool	isEqual (const JointModelTpl &other) const

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

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

	JointModelTpl ()

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

	JointModelTpl (const JointModelVariant &jmodel_variant)

int	nq_impl () const

int	nv_impl () const

int	nvExtended_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)

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

std::string	shortname () const

JointModelVariant &	toVariant ()

const JointModelVariant &	toVariant () const

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

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

Detailed Description

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

Definition at line 169 of file 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 273 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 274 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 275 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 282 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 287 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 303 of file joint-generic.hpp.

Member Function Documentation

◆ calc() [1/3]

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

template<typename TangentVector >

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

inline

Definition at line 359 of file joint-generic.hpp.

◆ calc() [2/3]

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 353 of file joint-generic.hpp.

◆ calc() [3/3]

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 366 of file joint-generic.hpp.

◆ calc_aba()

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

template<typename VectorLike , typename Matrix6Like >

void pinocchio::JointModelTpl< _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 375 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 462 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 414 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 320 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 292 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 297 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 332 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 445 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 432 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 436 of file joint-generic.hpp.

◆ idx_vExtended_impl()

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

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

inline

Definition at line 440 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 326 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 337 of file joint-generic.hpp.

◆ JointMappedConfigSelector_impl() [1/2]

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

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointMappedConfigSelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 389 of file joint-generic.hpp.

◆ JointMappedConfigSelector_impl() [2/2]

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

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelTpl< _Scalar, _Options, JointCollectionTpl >::JointMappedConfigSelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 401 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 419 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 423 of file joint-generic.hpp.

◆ nvExtended_impl()

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

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

inline

Definition at line 427 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 347 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 342 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() [1/2]

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 450 of file joint-generic.hpp.

◆ setIndexes() [2/2]

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,
		int	nvExtended
	)

inline

Definition at line 455 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 410 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 310 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 315 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 268 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

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() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ hasSameIndexes()

◆ id_impl()

◆ idx_q_impl()

◆ idx_v_impl()

◆ idx_vExtended_impl()

◆ isEqual() [1/2]

◆ isEqual() [2/2]

◆ JointMappedConfigSelector_impl() [1/2]

◆ JointMappedConfigSelector_impl() [2/2]

◆ nq_impl()

◆ nv_impl()

◆ nvExtended_impl()

◆ operator!=()

◆ operator==()

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ PINOCCHIO_JOINT_USE_INDEXES()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ 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 >