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5 #ifndef __pinocchio_joint_revolute_unbounded_hpp__
6 #define __pinocchio_joint_revolute_unbounded_hpp__
19 template<
typename _Scalar,
int _Options,
int axis>
36 typedef Eigen::Matrix<Scalar,6,NV,Options>
U_t;
37 typedef Eigen::Matrix<Scalar,NV,NV,Options>
D_t;
38 typedef Eigen::Matrix<Scalar,6,NV,Options>
UD_t;
46 template<
typename Scalar,
int Options,
int axis>
50 template<
typename Scalar,
int Options,
int axis>
54 template<
typename _Scalar,
int _Options,
int axis>
57 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
82 return std::string(
"JointDataRUB") + axisLabel<axis>();
88 template<
typename NewScalar,
typename Scalar,
int Options,
int axis>
94 template<
typename _Scalar,
int _Options,
int axis>
96 :
public JointModelBase< JointModelRevoluteUnboundedTpl<_Scalar,_Options,axis> >
98 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
109 JointDataDerived
createData()
const {
return JointDataDerived(); }
113 return {
false,
false};
121 template<
typename ConfigVector>
123 const typename Eigen::MatrixBase<ConfigVector> &
qs)
const
126 typename ConfigVector::template ConstFixedSegmentReturnType<NQ>::Type
127 &
q =
qs.template segment<NQ> (
idx_q());
129 const OtherScalar & ca =
q(0);
130 const OtherScalar & sa =
q(1);
132 data.M.setValues(sa,ca);
135 template<
typename ConfigVector,
typename TangentVector>
137 const typename Eigen::MatrixBase<ConfigVector> &
qs,
138 const typename Eigen::MatrixBase<TangentVector> & vs)
const
145 template<
typename Matrix6Like>
146 void calc_aba(JointDataDerived &
data,
const Eigen::MatrixBase<Matrix6Like> & I,
const bool update_I)
const
148 data.U = I.col(Inertia::ANGULAR +
axis);
158 return std::string(
"JointModelRUB") + axisLabel<axis>();
163 template<
typename NewScalar>
176 template<
typename ConfigVectorIn,
typename Scalar,
typename ConfigVectorOut>
177 static void run(
const Eigen::MatrixBase<ConfigVectorIn> &
q,
180 const Eigen::MatrixBase<ConfigVectorOut> & dest)
182 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(ConfigVectorIn,2);
183 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(ConfigVectorOut,2);
192 SINCOS(theta_transform,&dest_.coeffRef(1),&dest_.coeffRef(0));
196 template<
typename Scalar,
int Options,
int axis>
216 #include <boost/type_traits.hpp>
220 template<
typename Scalar,
int Options,
int axis>
222 :
public integral_constant<bool,true> {};
224 template<
typename Scalar,
int Options,
int axis>
226 :
public integral_constant<bool,true> {};
228 template<
typename Scalar,
int Options,
int axis>
230 :
public integral_constant<bool,true> {};
232 template<
typename Scalar,
int Options,
int axis>
234 :
public integral_constant<bool,true> {};
237 #endif // ifndef __pinocchio_joint_revolute_unbounded_hpp__
JointRevoluteUnboundedTpl< Scalar, Options, axis > JointDerived
#define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE
JointDataRevoluteUnboundedTpl< double, 0, 1 > JointDataRUBY
JointRevoluteUnboundedTpl< double, 0, 2 > JointRUBZ
Eigen::Matrix< Scalar, 6, NV, Options > UD_t
JointModelRevoluteUnboundedTpl< double, 0, 0 > JointModelRUBX
std::string shortname() const
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
JointModelRevoluteUnboundedTpl< double, 0, 1 > JointModelRUBY
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corre...
static std::string classname()
#define PINOCCHIO_EIGEN_CONST_CAST(TYPE, OBJ)
Macro for an automatic const_cast.
std::string shortname() const
JointDataRevoluteUnboundedTpl()
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR Constraint_t S
JointModelRevoluteUnboundedTpl< double, 0, 2 > JointModelRUBZ
JointDataRevoluteUnboundedTpl< double, 0, 0 > JointDataRUBX
void calc(JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs) const
void setIndexes(JointIndex id, int q, int v)
JointRevoluteUnboundedTpl< double, 0, 1 > JointRUBY
void SINCOS(const S1 &a, S2 *sa, S3 *ca)
Computes sin/cos values of a given input scalar.
JointRevoluteUnboundedTpl< double, 0, 0 > JointRUBX
PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)
PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE typedef Eigen::Matrix< Scalar, NQ, 1, Options > ConfigVector_t
JointModelRevoluteUnboundedTpl< Scalar, Options, axis > JointModelDerived
JointDataRevoluteUnboundedTpl< Scalar, Options, axis > JointDataDerived
#define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR
Eigen::Matrix< Scalar, NV, NV, Options > D_t
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnboundedTpl< _Scalar, _Options, axis > JointDerived
const std::vector< bool > hasConfigurationLimit() const
Eigen::Matrix< Scalar, 6, NV, Options > U_t
PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived)
Eigen::Matrix< Scalar, NV, 1, Options > TangentVector_t
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointRevoluteUnboundedTpl< _Scalar, _Options, axis > JointDerived
JointModelRevoluteUnboundedTpl< NewScalar, Options, axis > cast() const
MotionZeroTpl< Scalar, Options > Bias_t
const std::vector< bool > hasConfigurationLimitInTangent() const
TransformRevoluteTpl< Scalar, Options, axis > Transformation_t
JointRevoluteTpl< Scalar, _Options, axis > JointDerivedBase
JointDataRevoluteUnboundedTpl< double, 0, 2 > JointDataRUBZ
JointModelRevoluteUnboundedTpl< NewScalar, Options, axis > type
ConstraintRevoluteTpl< Scalar, Options, axis > Constraint_t
MotionRevoluteTpl< Scalar, Options, axis > Motion_t
static std::string classname()
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
JointRevoluteUnboundedTpl< Scalar, Options, axis > JointDerived
void calc_aba(JointDataDerived &data, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I) const
JointModelBase< JointModelRevoluteUnboundedTpl > Base
void calc(JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const
Common traits structure to fully define base classes for CRTP.
JointDataDerived createData() const
Type of the cast of a class C templated by Scalar and Options, to a new NewScalar type....
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:43:59