Template Struct JointMotionSubspaceUniversalTpl

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Struct Documentation

template<typename _Scalar, int _Options>
struct JointMotionSubspaceUniversalTpl : public pinocchio::JointMotionSubspaceBase<JointMotionSubspaceUniversalTpl<_Scalar, _Options>>

Public Types

Values:

enumerator NV
typedef traits<JointMotionSubspaceUniversalTpl>::Vector3 Vector3
typedef traits<JointMotionSubspaceUniversalTpl>::Matrix32 Matrix32

Public Functions

inline JointMotionSubspaceUniversalTpl()
template<typename Matrix32Like>
inline JointMotionSubspaceUniversalTpl(const Eigen::MatrixBase<Matrix32Like> &subspace)
template<typename Vector3Like>
inline JointMotion __mult__(const Eigen::MatrixBase<Vector3Like> &v) const
template<typename S1, int O1>
inline SE3GroupAction<JointMotionSubspaceUniversalTpl>::ReturnType se3Action(const SE3Tpl<S1, O1> &m) const
template<typename S1, int O1>
inline SE3GroupAction<JointMotionSubspaceUniversalTpl>::ReturnType se3ActionInverse(const SE3Tpl<S1, O1> &m) const
inline int nv_impl() const
inline TransposeConst transpose() const
inline DenseBase matrix_impl() const
template<typename MotionDerived>
inline MotionAlgebraAction<JointMotionSubspaceUniversalTpl, MotionDerived>::ReturnType motionAction(const MotionDense<MotionDerived> &m) const
inline const Matrix32 &angularSubspace() const
inline Matrix32 &angularSubspace()
inline bool isEqual(const JointMotionSubspaceUniversalTpl &other) const

Protected Attributes

Matrix32 m_S
struct TransposeConst : public pinocchio::JointMotionSubspaceTransposeBase<JointMotionSubspaceUniversalTpl>

Public Functions

inline TransposeConst(const JointMotionSubspaceUniversalTpl &ref)
template<typename ForceDerived>
inline ConstraintForceOp<JointMotionSubspaceUniversalTpl, ForceDerived>::ReturnType operator*(const ForceDense<ForceDerived> &f) const
template<typename ForceSet>
inline ConstraintForceSetOp<JointMotionSubspaceUniversalTpl, ForceSet>::ReturnType operator*(const Eigen::MatrixBase<ForceSet> &F)

Public Members

const JointMotionSubspaceUniversalTpl &ref