Template Struct JointModelUniversalTpl

Inheritance Relationships

Base Type

Struct Documentation

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

Public Types

typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3
typedef Eigen::Matrix<Scalar, 3, 3, _Options> Matrix3
typedef JointModelBase<JointModelUniversalTpl> Base

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)
inline JointModelUniversalTpl()
inline JointModelUniversalTpl(const Scalar &x1, const Scalar &y1, const Scalar &z1, const Scalar &x2, const Scalar &y2, const Scalar &z2)
template<typename Vector3Like>
inline JointModelUniversalTpl(const Eigen::MatrixBase<Vector3Like> &axis1_, const Eigen::MatrixBase<Vector3Like> &axis2_)
inline JointDataDerived createData() const
inline const std::vector<bool> hasConfigurationLimit() const
inline const std::vector<bool> hasConfigurationLimitInTangent() const
inline bool isEqual(const JointModelUniversalTpl &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 JointModelUniversalTpl<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 JointUniversalTpl< _Scalar, _Options > JointDerived
Vector3 axis1

3d main axii of the joint.

Vector3 axis2

Public Static Functions

static inline std::string classname()