#include <fwd.hpp>

Public Types
typedef JointModelBase< JointModelUniversalTpl >	Base

typedef Eigen::Matrix< Scalar, 3, 3, _Options >	Matrix3

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

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

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

template<typename ConfigVector , typename TangentVector >
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 >
JointModelUniversalTpl< NewScalar, Options >	cast () const

JointDataDerived	createData () 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

bool	isEqual (const JointModelBase< Derived > &other) const

template<class OtherDerived >
bool	isEqual (const JointModelBase< OtherDerived > &) const

bool	isEqual (const JointModelUniversalTpl &other) const

	JointModelUniversalTpl ()

template<typename Vector3Like >
	JointModelUniversalTpl (const Eigen::MatrixBase< Vector3Like > &axis1_, const Eigen::MatrixBase< Vector3Like > &axis2_)

	JointModelUniversalTpl (const Scalar &x1, const Scalar &y1, const Scalar &z1, const Scalar &x2, const Scalar &y2, const Scalar &z2)

	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
Vector3	axis1
	3d main axii of the joint. More...

Vector3	axis2

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointUniversalTpl< _Scalar, _Options >	JointDerived

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::JointModelUniversalTpl< _Scalar, _Options >

Definition at line 102 of file multibody/joint/fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef JointModelBase<JointModelUniversalTpl> pinocchio::JointModelUniversalTpl< _Scalar, _Options >::Base

Definition at line 415 of file joint-universal.hpp.

◆ Matrix3

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 3, 3, _Options> pinocchio::JointModelUniversalTpl< _Scalar, _Options >::Matrix3

Definition at line 413 of file joint-universal.hpp.

◆ Vector3

template<typename _Scalar , int _Options>

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

Definition at line 412 of file joint-universal.hpp.

Constructor & Destructor Documentation

◆ JointModelUniversalTpl() [1/3]

template<typename _Scalar , int _Options>

pinocchio::JointModelUniversalTpl< _Scalar, _Options >::JointModelUniversalTpl ( )

inline

Definition at line 422 of file joint-universal.hpp.

◆ JointModelUniversalTpl() [2/3]

template<typename _Scalar , int _Options>

pinocchio::JointModelUniversalTpl< _Scalar, _Options >::JointModelUniversalTpl	(	const Scalar &	x1,
		const Scalar &	y1,
		const Scalar &	z1,
		const Scalar &	x2,
		const Scalar &	y2,
		const Scalar &	z2
	)

inline

Definition at line 426 of file joint-universal.hpp.

◆ JointModelUniversalTpl() [3/3]

template<typename _Scalar , int _Options>

template<typename Vector3Like >

pinocchio::JointModelUniversalTpl< _Scalar, _Options >::JointModelUniversalTpl	(	const Eigen::MatrixBase< Vector3Like > &	axis1_,
		const Eigen::MatrixBase< Vector3Like > &	axis2_
	)

inline

Definition at line 442 of file joint-universal.hpp.

Member Function Documentation

◆ calc() [1/3]

template<typename _Scalar , int _Options>

template<typename TangentVector >

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

inline

Definition at line 504 of file joint-universal.hpp.

◆ calc() [2/3]

template<typename _Scalar , int _Options>

template<typename ConfigVector >

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

inline

Definition at line 478 of file joint-universal.hpp.

◆ calc() [3/3]

template<typename _Scalar , int _Options>

template<typename ConfigVector , typename TangentVector >

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

inline

Definition at line 526 of file joint-universal.hpp.

◆ calc_aba()

template<typename _Scalar , int _Options>

template<typename VectorLike , typename Matrix6Like >

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

inline

Definition at line 574 of file joint-universal.hpp.

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

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

inline

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

Definition at line 603 of file joint-universal.hpp.

◆ classname()

template<typename _Scalar , int _Options>

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

inlinestatic

Definition at line 592 of file joint-universal.hpp.

◆ createData()

template<typename _Scalar , int _Options>

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

inline

Definition at line 455 of file joint-universal.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar , int _Options>

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

inline

Definition at line 460 of file joint-universal.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar , int _Options>

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

inline

Definition at line 465 of file joint-universal.hpp.

◆ id()

template<typename _Scalar , int _Options>

JointIndex pinocchio::JointModelBase< Derived >::id

inline

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

◆ idx_q()

template<typename _Scalar , int _Options>

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 pinocchio::JointModelBase< Derived >::idx_v

inline

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

◆ idx_vExtended()

template<typename _Scalar , int _Options>

int pinocchio::JointModelBase< Derived >::idx_vExtended

inline

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

◆ isEqual() [1/3]

template<typename _Scalar , int _Options>

bool pinocchio::JointModelBase< Derived >::isEqual

inline

Definition at line 274 of file joint-model-base.hpp.

◆ isEqual() [2/3]

template<typename _Scalar , int _Options>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::isEqual ( class OtherDerived )

inline

Definition at line 269 of file joint-model-base.hpp.

◆ isEqual() [3/3]

template<typename _Scalar , int _Options>

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

inline

Definition at line 471 of file joint-universal.hpp.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<typename _Scalar , int _Options>

pinocchio::JointModelUniversalTpl< _Scalar, _Options >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived )

◆ setIndexes() [1/2]

template<typename _Scalar , int _Options>

void pinocchio::JointModelBase< Derived >::setIndexes

inline

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

◆ setIndexes() [2/2]

template<typename _Scalar , int _Options>

void pinocchio::JointModelBase< Derived >::setIndexes

inline

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

◆ shortname()

template<typename _Scalar , int _Options>

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

inline

Definition at line 596 of file joint-universal.hpp.

Member Data Documentation

◆ axis1

template<typename _Scalar , int _Options>

Vector3 pinocchio::JointModelUniversalTpl< _Scalar, _Options >::axis1

3d main axii of the joint.

Definition at line 613 of file joint-universal.hpp.

◆ axis2

template<typename _Scalar , int _Options>

Vector3 pinocchio::JointModelUniversalTpl< _Scalar, _Options >::axis2

Definition at line 614 of file joint-universal.hpp.

◆ JointDerived

template<typename _Scalar , int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointUniversalTpl<_Scalar, _Options> pinocchio::JointModelUniversalTpl< _Scalar, _Options >::JointDerived

Definition at line 410 of file joint-universal.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> struct pinocchio::JointModelUniversalTpl< _Scalar, _Options >

Member Typedef Documentation

◆ Base

◆ Matrix3

◆ Vector3

Constructor & Destructor Documentation

◆ JointModelUniversalTpl() [1/3]

◆ JointModelUniversalTpl() [2/3]

◆ JointModelUniversalTpl() [3/3]

Member Function Documentation

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ isEqual() [1/3]

◆ isEqual() [2/3]

◆ isEqual() [3/3]

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ shortname()

Member Data Documentation

◆ axis1

◆ axis2

◆ JointDerived

template<typename _Scalar, int _Options>
struct pinocchio::JointModelUniversalTpl< _Scalar, _Options >