Template Struct JointModelHelicalUnalignedTpl

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar, int _Options>
struct JointModelHelicalUnalignedTpl : public pinocchio::JointModelBase<JointModelHelicalUnalignedTpl<_Scalar, _Options>>

Public Types

typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3
typedef JointModelBase<JointModelHelicalUnalignedTpl> Base

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)
inline JointModelHelicalUnalignedTpl()
template<typename Vector3Like>
inline JointModelHelicalUnalignedTpl(const Eigen::MatrixBase<Vector3Like> &axis)
inline JointModelHelicalUnalignedTpl(const Scalar &x, const Scalar &y, const Scalar &z, const Scalar &h)
template<typename Vector3Like>
inline JointModelHelicalUnalignedTpl(const Eigen::MatrixBase<Vector3Like> &axis, const Scalar &h)
inline const std::vector<bool> hasConfigurationLimit() const
inline const std::vector<bool> hasConfigurationLimitInTangent() const
inline JointDataDerived createData() const
inline bool isEqual(const JointModelHelicalUnalignedTpl &other) const
template<typename ConfigVector>
inline void calc(JointDataDerived &data, const typename Eigen::MatrixBase<ConfigVector> &qs) const
template<typename TangentVector>
inline void calc(JointDataDerived &data, const Blank, const typename Eigen::MatrixBase<TangentVector> &vs) const
template<typename ConfigVector, typename TangentVector>
inline void calc(JointDataDerived &data, const typename Eigen::MatrixBase<ConfigVector> &qs, const typename Eigen::MatrixBase<TangentVector> &vs) const
template<typename VectorLike, typename Matrix6Like>
inline void calc_aba(JointDataDerived &data, const Eigen::MatrixBase<VectorLike> &armature, const Eigen::MatrixBase<Matrix6Like> &I, const bool update_I) const
inline std::string shortname() const
template<typename NewScalar>
inline JointModelHelicalUnalignedTpl<NewScalar, Options> cast() const
Returns:

An expression of *this with the Scalar type casted to NewScalar.

inline JointIndex id() const
inline int idx_q() const
inline int idx_v() const
inline void setIndexes(JointIndex id, int q, int v)
template<class OtherDerived>
inline bool isEqual(const JointModelBase<OtherDerived>&) const
inline bool isEqual(const JointModelBase<Derived> &other) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointHelicalUnalignedTpl< _Scalar, _Options > JointDerived
Vector3 axis
Scalar m_pitch

Public Static Functions

static inline std::string classname()