#include "pinocchio/multibody/joint/joint-base.hpp"#include "pinocchio/multibody/joint/joint-common-operations.hpp"#include "pinocchio/math/matrix-block.hpp"#include <limits>
Include dependency graph for joint-model-base.hpp:
Go to the source code of this file.
Classes | |
| struct | pinocchio::JointModelBase< Derived > |
Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Macros | |
| #define | PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelTpl) |
| #define | PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, TYPENAME) |
| #define | PINOCCHIO_JOINT_TYPEDEF(Joint) PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename) |
| #define | PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(Joint) PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename) |
| #define | PINOCCHIO_JOINT_USE_INDEXES(Joint) |
Macro Definition Documentation
| #define PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION | ( | JointModelTpl | ) |
Value:
template<typename Scalar, int Options, typename NewScalar> \
struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
{ typedef JointModelTpl<NewScalar,Options> type; }
Definition at line 58 of file joint-model-base.hpp.
| #define PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC | ( | Joint, | |
| TYPENAME | |||
| ) |
Value:
typedef Eigen::DenseIndex Index; \
typedef TYPENAME traits<Joint>::Scalar Scalar; \
typedef TYPENAME traits<Joint>::JointDataDerived JointDataDerived; \
typedef TYPENAME traits<Joint>::JointModelDerived JointModelDerived; \
typedef TYPENAME traits<Joint>::Constraint_t Constraint_t; \
typedef TYPENAME traits<Joint>::Transformation_t Transformation_t; \
typedef TYPENAME traits<Joint>::Motion_t Motion_t; \
typedef TYPENAME traits<Joint>::Bias_t Bias_t; \
typedef TYPENAME traits<Joint>::U_t U_t; \
typedef TYPENAME traits<Joint>::D_t D_t; \
typedef TYPENAME traits<Joint>::UD_t UD_t; \
enum { \
NV = traits<Joint>::NV \
}; \
typedef TYPENAME traits<Joint>::ConfigVector_t ConfigVector_t; \
typedef TYPENAME traits<Joint>::TangentVector_t TangentVector_t
Definition at line 16 of file joint-model-base.hpp.
| #define PINOCCHIO_JOINT_TYPEDEF | ( | Joint | ) | PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename) |
Definition at line 48 of file joint-model-base.hpp.
| #define PINOCCHIO_JOINT_TYPEDEF_TEMPLATE | ( | Joint | ) | PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,typename) |
Definition at line 49 of file joint-model-base.hpp.
| #define PINOCCHIO_JOINT_USE_INDEXES | ( | Joint | ) |
Value:
typedef JointModelBase<Joint> Base; \
using Base::idx_q; \
using Base::idx_v
int idx_q(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxQVisitor to get the index in the full model configuration space...
int idx_v(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corre...
Definition at line 53 of file joint-model-base.hpp.