Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Friends | List of all members
pinocchio::JointModelBase< Derived > Struct Template Reference

#include <joint-model-base.hpp>

Public Member Functions

template<typename ConfigVectorType >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
 
template<typename ConfigVectorType , typename TangentVectorType >
void calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const
 
template<typename Matrix6Type >
void calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I=false) const
 
template<typename NewScalar >
CastType< NewScalar, Derived >::type cast () const
 
JointDataDerived createData () const
 
JointModelDerived & derived ()
 
const JointModelDerived & derived () const
 
void disp (std::ostream &os) const
 
const std::vector< bool > hasConfigurationLimit () const
 
const std::vector< bool > hasConfigurationLimitInTangent () const
 
template<class OtherDerived >
bool hasSameIndexes (const JointModelBase< OtherDerived > &other) const
 
JointIndex id () const
 
JointIndex id_impl () const
 
int idx_q () const
 
int idx_q_impl () const
 
int idx_v () const
 
int idx_v_impl () const
 
template<class OtherDerived >
bool isEqual (const JointModelBase< OtherDerived > &) const
 
bool isEqual (const JointModelBase< Derived > &other) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock (const Eigen::MatrixBase< D > &Mat) const
 Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat. More...
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type jointBlock_impl (Eigen::MatrixBase< D > &Mat) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows_impl (const Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type jointRows_impl (Eigen::MatrixBase< D > &A) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector (Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
 
int nq () const
 
int nq_impl () const
 
int nv () const
 
int nv_impl () const
 
template<class OtherDerived >
bool operator!= (const JointModelBase< OtherDerived > &other) const
 
template<class OtherDerived >
bool operator== (const JointModelBase< OtherDerived > &other) const
 
 PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
 
void setIndexes (JointIndex id, int q, int v)
 
void setIndexes_impl (JointIndex id, int q, int v)
 
std::string shortname () const
 

Static Public Member Functions

static std::string classname ()
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::JointDerived JointDerived
 

Protected Member Functions

 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBaseoperator= (const JointModelBase &clone)
 

Protected Attributes

JointIndex i_id
 
int i_q
 
int i_v
 

Friends

std::ostream & operator<< (std::ostream &os, const JointModelBase< Derived > &joint)
 

Detailed Description

template<typename Derived>
struct pinocchio::JointModelBase< Derived >

Definition at line 67 of file joint-model-base.hpp.

Constructor & Destructor Documentation

◆ JointModelBase() [1/2]

template<typename Derived>
pinocchio::JointModelBase< Derived >::JointModelBase ( )
inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 304 of file joint-model-base.hpp.

◆ JointModelBase() [2/2]

template<typename Derived>
pinocchio::JointModelBase< Derived >::JointModelBase ( const JointModelBase< Derived > &  clone)
inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 311 of file joint-model-base.hpp.

Member Function Documentation

◆ calc() [1/2]

template<typename Derived>
template<typename ConfigVectorType >
void pinocchio::JointModelBase< Derived >::calc ( JointDataDerived &  data,
const Eigen::MatrixBase< ConfigVectorType > &  qs 
) const
inline

Definition at line 90 of file joint-model-base.hpp.

◆ calc() [2/2]

template<typename Derived>
template<typename ConfigVectorType , typename TangentVectorType >
void pinocchio::JointModelBase< Derived >::calc ( JointDataDerived &  data,
const Eigen::MatrixBase< ConfigVectorType > &  qs,
const Eigen::MatrixBase< TangentVectorType > &  vs 
) const
inline

Definition at line 97 of file joint-model-base.hpp.

◆ calc_aba()

template<typename Derived>
template<typename Matrix6Type >
void pinocchio::JointModelBase< Derived >::calc_aba ( JointDataDerived &  data,
const Eigen::MatrixBase< Matrix6Type > &  I,
const bool  update_I = false 
) const
inline

Definition at line 105 of file joint-model-base.hpp.

◆ cast()

template<typename Derived>
template<typename NewScalar >
CastType<NewScalar,Derived>::type pinocchio::JointModelBase< Derived >::cast ( ) const
inline

Definition at line 156 of file joint-model-base.hpp.

◆ classname()

template<typename Derived>
static std::string pinocchio::JointModelBase< Derived >::classname ( )
inlinestatic

Definition at line 153 of file joint-model-base.hpp.

◆ createData()

template<typename Derived>
JointDataDerived pinocchio::JointModelBase< Derived >::createData ( ) const
inline

Definition at line 77 of file joint-model-base.hpp.

◆ derived() [1/2]

template<typename Derived>
JointModelDerived& pinocchio::JointModelBase< Derived >::derived ( )
inline

Definition at line 74 of file joint-model-base.hpp.

◆ derived() [2/2]

template<typename Derived>
const JointModelDerived& pinocchio::JointModelBase< Derived >::derived ( ) const
inline

Definition at line 75 of file joint-model-base.hpp.

◆ disp()

template<typename Derived>
void pinocchio::JointModelBase< Derived >::disp ( std::ostream &  os) const
inline

Definition at line 133 of file joint-model-base.hpp.

◆ hasConfigurationLimit()

template<typename Derived>
const std::vector<bool> pinocchio::JointModelBase< Derived >::hasConfigurationLimit ( ) const
inline

Definition at line 79 of file joint-model-base.hpp.

◆ hasConfigurationLimitInTangent()

template<typename Derived>
const std::vector<bool> pinocchio::JointModelBase< Derived >::hasConfigurationLimitInTangent ( ) const
inline

Definition at line 84 of file joint-model-base.hpp.

◆ hasSameIndexes()

template<typename Derived>
template<class OtherDerived >
bool pinocchio::JointModelBase< Derived >::hasSameIndexes ( const JointModelBase< OtherDerived > &  other) const
inline

Definition at line 177 of file joint-model-base.hpp.

◆ id()

template<typename Derived>
JointIndex pinocchio::JointModelBase< Derived >::id ( ) const
inline

Definition at line 121 of file joint-model-base.hpp.

◆ id_impl()

template<typename Derived>
JointIndex pinocchio::JointModelBase< Derived >::id_impl ( ) const
inline

Definition at line 125 of file joint-model-base.hpp.

◆ idx_q()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::idx_q ( ) const
inline

Definition at line 119 of file joint-model-base.hpp.

◆ idx_q_impl()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::idx_q_impl ( ) const
inline

Definition at line 123 of file joint-model-base.hpp.

◆ idx_v()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::idx_v ( ) const
inline

Definition at line 120 of file joint-model-base.hpp.

◆ idx_v_impl()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::idx_v_impl ( ) const
inline

Definition at line 124 of file joint-model-base.hpp.

◆ isEqual() [1/2]

template<typename Derived>
template<class OtherDerived >
bool pinocchio::JointModelBase< Derived >::isEqual ( const JointModelBase< OtherDerived > &  ) const
inline

Definition at line 168 of file joint-model-base.hpp.

◆ isEqual() [2/2]

template<typename Derived>
bool pinocchio::JointModelBase< Derived >::isEqual ( const JointModelBase< Derived > &  other) const
inline

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

◆ jointBlock() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template BlockReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointBlock ( const Eigen::MatrixBase< D > &  Mat) const
inline

Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

Definition at line 280 of file joint-model-base.hpp.

◆ jointBlock() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template BlockReturn<D>::Type pinocchio::JointModelBase< Derived >::jointBlock ( Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 291 of file joint-model-base.hpp.

◆ jointBlock_impl() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template BlockReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointBlock_impl ( const Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 285 of file joint-model-base.hpp.

◆ jointBlock_impl() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template BlockReturn<D>::Type pinocchio::JointModelBase< Derived >::jointBlock_impl ( Eigen::MatrixBase< D > &  Mat) const
inline

Definition at line 296 of file joint-model-base.hpp.

◆ jointCols() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointCols ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 234 of file joint-model-base.hpp.

◆ jointCols() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointCols ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 245 of file joint-model-base.hpp.

◆ jointCols_impl() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointCols_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 239 of file joint-model-base.hpp.

◆ jointCols_impl() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointCols_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 250 of file joint-model-base.hpp.

◆ jointConfigSelector() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointConfigSelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 188 of file joint-model-base.hpp.

◆ jointConfigSelector() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointConfigSelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 199 of file joint-model-base.hpp.

◆ jointConfigSelector_impl() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 193 of file joint-model-base.hpp.

◆ jointConfigSelector_impl() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 204 of file joint-model-base.hpp.

◆ jointRows() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template RowsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointRows ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 257 of file joint-model-base.hpp.

◆ jointRows() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template RowsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointRows ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 268 of file joint-model-base.hpp.

◆ jointRows_impl() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template RowsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointRows_impl ( const Eigen::MatrixBase< D > &  A) const
inline

Definition at line 262 of file joint-model-base.hpp.

◆ jointRows_impl() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template RowsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointRows_impl ( Eigen::MatrixBase< D > &  A) const
inline

Definition at line 273 of file joint-model-base.hpp.

◆ jointVelocitySelector() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointVelocitySelector ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 211 of file joint-model-base.hpp.

◆ jointVelocitySelector() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointVelocitySelector ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 222 of file joint-model-base.hpp.

◆ jointVelocitySelector_impl() [1/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const
inline

Definition at line 216 of file joint-model-base.hpp.

◆ jointVelocitySelector_impl() [2/2]

template<typename Derived>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const
inline

Definition at line 227 of file joint-model-base.hpp.

◆ nq()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::nq ( ) const
inline

Definition at line 113 of file joint-model-base.hpp.

◆ nq_impl()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::nq_impl ( ) const
inline

Definition at line 117 of file joint-model-base.hpp.

◆ nv()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::nv ( ) const
inline

Definition at line 112 of file joint-model-base.hpp.

◆ nv_impl()

template<typename Derived>
int pinocchio::JointModelBase< Derived >::nv_impl ( ) const
inline

Definition at line 116 of file joint-model-base.hpp.

◆ operator!=()

template<typename Derived>
template<class OtherDerived >
bool pinocchio::JointModelBase< Derived >::operator!= ( const JointModelBase< OtherDerived > &  other) const
inline

Definition at line 164 of file joint-model-base.hpp.

◆ operator=()

template<typename Derived>
JointModelBase& pinocchio::JointModelBase< Derived >::operator= ( const JointModelBase< Derived > &  clone)
inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 318 of file joint-model-base.hpp.

◆ operator==()

template<typename Derived>
template<class OtherDerived >
bool pinocchio::JointModelBase< Derived >::operator== ( const JointModelBase< OtherDerived > &  other) const
inline

Definition at line 160 of file joint-model-base.hpp.

◆ PINOCCHIO_JOINT_TYPEDEF_TEMPLATE()

template<typename Derived>
pinocchio::JointModelBase< Derived >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived  )

◆ setIndexes()

template<typename Derived>
void pinocchio::JointModelBase< Derived >::setIndexes ( JointIndex  id,
int  q,
int  v 
)
inline

Definition at line 127 of file joint-model-base.hpp.

◆ setIndexes_impl()

template<typename Derived>
void pinocchio::JointModelBase< Derived >::setIndexes_impl ( JointIndex  id,
int  q,
int  v 
)
inline

Definition at line 130 of file joint-model-base.hpp.

◆ shortname()

template<typename Derived>
std::string pinocchio::JointModelBase< Derived >::shortname ( ) const
inline

Definition at line 152 of file joint-model-base.hpp.

Friends And Related Function Documentation

◆ operator<<

template<typename Derived>
std::ostream& operator<< ( std::ostream &  os,
const JointModelBase< Derived > &  joint 
)
friend

Definition at line 146 of file joint-model-base.hpp.

Member Data Documentation

◆ i_id

template<typename Derived>
JointIndex pinocchio::JointModelBase< Derived >::i_id
protected

Definition at line 327 of file joint-model-base.hpp.

◆ i_q

template<typename Derived>
int pinocchio::JointModelBase< Derived >::i_q
protected

Definition at line 328 of file joint-model-base.hpp.

◆ i_v

template<typename Derived>
int pinocchio::JointModelBase< Derived >::i_v
protected

Definition at line 329 of file joint-model-base.hpp.

◆ JointDerived

template<typename Derived>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits<Derived>::JointDerived pinocchio::JointModelBase< Derived >::JointDerived

Definition at line 71 of file joint-model-base.hpp.


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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:35