Template Struct ConstraintModelJacobianVisitor

Inheritance Relationships

Base Type

Struct Documentation

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

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, const Data&, JacobianMatrix&> ArgsType

Public Static Functions

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)