Struct JointMotionSubspaceSphericalZYXTpl::ConstraintTranspose

Defined in File joint-spherical-ZYX.hpp

Nested Relationships

This struct is a nested type of Template Struct JointMotionSubspaceSphericalZYXTpl.

Inheritance Relationships

Base Type

public pinocchio::JointMotionSubspaceTransposeBase< JointMotionSubspaceSphericalZYXTpl > (Template Struct JointMotionSubspaceTransposeBase)

Struct Documentation

struct ConstraintTranspose : public pinocchio::JointMotionSubspaceTransposeBase<JointMotionSubspaceSphericalZYXTpl>

Public Functions

inline ConstraintTranspose(const JointMotionSubspaceSphericalZYXTpl &ref)

template<typename Derived> inline const MatrixMatrixProduct<Eigen::Transpose<const Matrix3>, Eigen::Block<const typename ForceDense<Derived>::Vector6, 3, 1>>::type operator*(const ForceDense<Derived> &phi) const

template<typename D> inline const MatrixMatrixProduct<typename Eigen::Transpose<const Matrix3>, typename Eigen::MatrixBase<const D>::template NRowsBlockXpr<3>::Type>::type operator*(const Eigen::MatrixBase<D> &F) const

Public Members

const JointMotionSubspaceSphericalZYXTpl &ref