pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > > Struct Template Reference

Partial specialization for CppAD::AGtypes. More...

#include <aba.hpp>

Public Types
typedef CppAD::AD< _Scalar >	Scalar

Public Member Functions
SE3::ActionMatrixType	action_matrix (M.toActionMatrixInverse())
SE3::ActionMatrixType	dual_action_matrix (M.toDualActionMatrix())
typedef	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix6Type) ReturnType

Static Public Member Functions
template<int Options, typename Matrix6Type >
static	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix6Type) run(const SE3Tpl< Scalar

Public Attributes
static Options const Eigen::MatrixBase< Matrix6Type > &	I
ReturnType	intermediate_result = dual_action_matrix * I
static Options &	M
ReturnType	res = intermediate_result * action_matrix
return	res

Detailed Description

template<typename _Scalar>
struct pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >

Partial specialization for CppAD::AGtypes.

Definition at line 19 of file autodiff/cppad/algorithm/aba.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

typedef CppAD::AD<_Scalar> pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::Scalar

Definition at line 21 of file autodiff/cppad/algorithm/aba.hpp.

Member Function Documentation

action_matrix()

template<typename _Scalar >

SE3::ActionMatrixType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::action_matrix

(

M.

toActionMatrixInverse()

)

dual_action_matrix()

template<typename _Scalar >

SE3::ActionMatrixType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::dual_action_matrix

(

M.

toDualActionMatrix()

)

PINOCCHIO_EIGEN_PLAIN_TYPE() [1/2]

template<typename _Scalar >

typedef pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::PINOCCHIO_EIGEN_PLAIN_TYPE

(

Matrix6Type

)

PINOCCHIO_EIGEN_PLAIN_TYPE() [2/2]

template<typename _Scalar >

template<int Options, typename Matrix6Type >

static pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::PINOCCHIO_EIGEN_PLAIN_TYPE ( Matrix6Type  ) const

static

Member Data Documentation

I

template<typename _Scalar >

Options const Eigen::MatrixBase<Matrix6Type>& pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::I

Initial value:

{
        typedef SE3Tpl<Scalar, Options> SE3

Definition at line 26 of file autodiff/cppad/algorithm/aba.hpp.

intermediate_result

template<typename _Scalar >

ReturnType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::intermediate_result = dual_action_matrix * I

Definition at line 33 of file autodiff/cppad/algorithm/aba.hpp.

M

template<typename _Scalar >

Options& pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::M

Definition at line 25 of file autodiff/cppad/algorithm/aba.hpp.

res [1/2]

template<typename _Scalar >

ReturnType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::res = intermediate_result * action_matrix

Definition at line 34 of file autodiff/cppad/algorithm/aba.hpp.

res [2/2]

template<typename _Scalar >

return pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::res

Definition at line 35 of file autodiff/cppad/algorithm/aba.hpp.

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

• autodiff/cppad/algorithm/aba.hpp