pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > Struct Template Reference

#include <joint-spherical-ZYX.hpp>

Classes
struct	ConstraintTranspose

Public Types
enum	{ NV = 3 }
typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3

Public Member Functions
template<typename Vector3Like >
JointMotion	__mult__ (const Eigen::MatrixBase< Vector3Like > &v) const
Matrix3 &	angularSubspace ()
const Matrix3 &	angularSubspace () const
bool	isEqual (const JointMotionSubspaceSphericalZYXTpl &other) const
	JointMotionSubspaceSphericalZYXTpl ()
template<typename Matrix3Like >
	JointMotionSubspaceSphericalZYXTpl (const Eigen::MatrixBase< Matrix3Like > &subspace)
DenseBase	matrix_impl () const
template<typename MotionDerived >
DenseBase	motionAction (const MotionDense< MotionDerived > &m) const
int	nv_impl () const
Matrix3 &	operator() ()
const Matrix3 &	operator() () const
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options >	se3Action (const SE3Tpl< S1, O1 > &m) const
template<typename S1 , int O1>
Eigen::Matrix< Scalar, 6, 3, Options >	se3ActionInverse (const SE3Tpl< S1, O1 > &m) const
ConstraintTranspose	transpose () const

Protected Attributes
Matrix3	m_S

Detailed Description

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

Definition at line 21 of file joint-spherical-ZYX.hpp.

Member Typedef Documentation

Matrix3

template<typename _Scalar , int _Options>

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

Definition at line 61 of file joint-spherical-ZYX.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Enumerator
NV

Definition at line 57 of file joint-spherical-ZYX.hpp.

Constructor & Destructor Documentation

JointMotionSubspaceSphericalZYXTpl() [1/2]

template<typename _Scalar , int _Options>

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

inline

Definition at line 63 of file joint-spherical-ZYX.hpp.

JointMotionSubspaceSphericalZYXTpl() [2/2]

template<typename _Scalar , int _Options>

template<typename Matrix3Like >

pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::JointMotionSubspaceSphericalZYXTpl ( const Eigen::MatrixBase< Matrix3Like > &  subspace )

inline

Definition at line 68 of file joint-spherical-ZYX.hpp.

Member Function Documentation

__mult__()

template<typename _Scalar , int _Options>

template<typename Vector3Like >

JointMotion pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::__mult__ ( const Eigen::MatrixBase< Vector3Like > &  v ) const

inline

Definition at line 75 of file joint-spherical-ZYX.hpp.

angularSubspace() [1/2]

template<typename _Scalar , int _Options>

Matrix3& pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::angularSubspace ( )

inline

Definition at line 194 of file joint-spherical-ZYX.hpp.

angularSubspace() [2/2]

template<typename _Scalar , int _Options>

const Matrix3& pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::angularSubspace ( ) const

inline

Definition at line 198 of file joint-spherical-ZYX.hpp.

isEqual()

template<typename _Scalar , int _Options>

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

inline

Definition at line 203 of file joint-spherical-ZYX.hpp.

matrix_impl()

template<typename _Scalar , int _Options>

DenseBase pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::matrix_impl ( ) const

inline

Definition at line 131 of file joint-spherical-ZYX.hpp.

motionAction()

template<typename _Scalar , int _Options>

template<typename MotionDerived >

DenseBase pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::motionAction ( const MotionDense< MotionDerived > &  m ) const

inline

Definition at line 182 of file joint-spherical-ZYX.hpp.

nv_impl()

template<typename _Scalar , int _Options>

int pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::nv_impl ( ) const

inline

Definition at line 90 of file joint-spherical-ZYX.hpp.

operator()() [1/2]

template<typename _Scalar , int _Options>

Matrix3& pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::operator() ( )

inline

Definition at line 81 of file joint-spherical-ZYX.hpp.

operator()() [2/2]

template<typename _Scalar , int _Options>

const Matrix3& pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::operator() ( ) const

inline

Definition at line 85 of file joint-spherical-ZYX.hpp.

se3Action()

template<typename _Scalar , int _Options>

template<typename S1 , int O1>

Eigen::Matrix<Scalar, 6, 3, Options> pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::se3Action ( const SE3Tpl< S1, O1 > &  m ) const

inline

Definition at line 144 of file joint-spherical-ZYX.hpp.

se3ActionInverse()

template<typename _Scalar , int _Options>

template<typename S1 , int O1>

Eigen::Matrix<Scalar, 6, 3, Options> pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::se3ActionInverse ( const SE3Tpl< S1, O1 > &  m ) const

inline

Definition at line 166 of file joint-spherical-ZYX.hpp.

transpose()

template<typename _Scalar , int _Options>

ConstraintTranspose pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::transpose ( ) const

inline

Definition at line 126 of file joint-spherical-ZYX.hpp.

Member Data Documentation

m_S

template<typename _Scalar , int _Options>

Matrix3 pinocchio::JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >::m_S

protected

Definition at line 209 of file joint-spherical-ZYX.hpp.

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

• joint-spherical-ZYX.hpp