Template Struct ConstraintModelJacobianVisitor
Defined in File constraint-model-visitor.hpp
Inheritance Relationships
Base Type
public pinocchio::fusion::ConstraintUnaryVisitorBase< ConstraintModelJacobianVisitor< Scalar, Options, JointCollectionTpl, JacobianMatrix > >
(Template Struct ConstraintUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename JacobianMatrix>
struct ConstraintModelJacobianVisitor : public pinocchio::fusion::ConstraintUnaryVisitorBase<ConstraintModelJacobianVisitor<Scalar, Options, JointCollectionTpl, JacobianMatrix>> ConstraintModelJacobianVisitor fusion visitor.
Public Types
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
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typedef boost::fusion::vector<const Model&, const Data&, JacobianMatrix&> ArgsType
Public Static Functions
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template<typename ConstraintModel>
static inline void algo(const pinocchio::ConstraintModelBase<ConstraintModel> &cmodel, typename ConstraintModel::ConstraintData &cdata, const Model &model, const Data &data, const Eigen::MatrixBase<JacobianMatrix> &jacobian_matrix)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model