#include <joint-model-base.hpp>

Public Member Functions
template<typename ConfigVectorType >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const

template<typename ConfigVectorType , typename TangentVectorType >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const

template<typename Matrix6Type >
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< Matrix6Type > &I, const bool update_I=false) const

template<typename NewScalar >
CastType< NewScalar, Derived >::type	cast () const

JointDataDerived	createData () const

JointModelDerived &	derived ()

const JointModelDerived &	derived () const

void	disp (std::ostream &os) const

template<class OtherDerived >
bool	hasSameIndexes (const JointModelBase< OtherDerived > &other) const

JointIndex	id () const

JointIndex	id_impl () const

int	idx_q () const

int	idx_q_impl () const

int	idx_v () const

int	idx_v_impl () const

template<class OtherDerived >
bool	isEqual (const JointModelBase< OtherDerived > &) const

bool	isEqual (const JointModelBase< Derived > &other) const

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock (const Eigen::MatrixBase< D > &Mat) const
	Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat. More...

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock (Eigen::MatrixBase< D > &Mat) const

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const

template<typename D >
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock_impl (Eigen::MatrixBase< D > &Mat) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows_impl (const Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows_impl (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector (Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const

template<typename D >
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const

int	nq () const

int	nq_impl () const

int	nv () const

int	nv_impl () const

template<class OtherDerived >
bool	operator!= (const JointModelBase< OtherDerived > &other) const

template<class OtherDerived >
bool	operator== (const JointModelBase< OtherDerived > &other) const

	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)

void	setIndexes (JointIndex id, int q, int v)

void	setIndexes_impl (JointIndex id, int q, int v)

std::string	shortname () const

Static Public Member Functions
static std::string	classname ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::JointDerived	JointDerived

Protected Member Functions
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes
JointIndex	i_id

int	i_q

int	i_v

Friends
std::ostream &	operator<< (std::ostream &os, const JointModelBase< Derived > &joint)

Detailed Description

template<typename Derived>
struct pinocchio::JointModelBase< Derived >

Definition at line 67 of file joint-model-base.hpp.

Constructor & Destructor Documentation

template<typename Derived>

pinocchio::JointModelBase< Derived >::JointModelBase ( )

inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 294 of file joint-model-base.hpp.

template<typename Derived>

pinocchio::JointModelBase< Derived >::JointModelBase ( const JointModelBase< Derived > & clone )

inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 301 of file joint-model-base.hpp.

Member Function Documentation

template<typename Derived>

template<typename ConfigVectorType >

void pinocchio::JointModelBase< Derived >::calc	(	JointDataDerived &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	qs
	)		const

inline

Definition at line 80 of file joint-model-base.hpp.

template<typename Derived>

template<typename ConfigVectorType , typename TangentVectorType >

void pinocchio::JointModelBase< Derived >::calc	(	JointDataDerived &	data,
		const Eigen::MatrixBase< ConfigVectorType > &	qs,
		const Eigen::MatrixBase< TangentVectorType > &	vs
	)		const

inline

Definition at line 87 of file joint-model-base.hpp.

template<typename Derived>

template<typename Matrix6Type >

void pinocchio::JointModelBase< Derived >::calc_aba	(	JointDataDerived &	data,
		const Eigen::MatrixBase< Matrix6Type > &	I,
		const bool	update_I = `false`
	)		const

inline

Definition at line 95 of file joint-model-base.hpp.

template<typename Derived>

template<typename NewScalar >

CastType<NewScalar,Derived>::type pinocchio::JointModelBase< Derived >::cast ( ) const

inline

Definition at line 146 of file joint-model-base.hpp.

template<typename Derived>

static std::string pinocchio::JointModelBase< Derived >::classname ( )

inlinestatic

Definition at line 143 of file joint-model-base.hpp.

template<typename Derived>

JointDataDerived pinocchio::JointModelBase< Derived >::createData ( ) const

inline

Definition at line 77 of file joint-model-base.hpp.

template<typename Derived>

JointModelDerived& pinocchio::JointModelBase< Derived >::derived ( )

inline

Definition at line 74 of file joint-model-base.hpp.

template<typename Derived>

const JointModelDerived& pinocchio::JointModelBase< Derived >::derived ( ) const

inline

Definition at line 75 of file joint-model-base.hpp.

template<typename Derived>

void pinocchio::JointModelBase< Derived >::disp ( std::ostream & os ) const

inline

Definition at line 123 of file joint-model-base.hpp.

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::hasSameIndexes ( const JointModelBase< OtherDerived > & other ) const

inline

Definition at line 167 of file joint-model-base.hpp.

template<typename Derived>

JointIndex pinocchio::JointModelBase< Derived >::id ( ) const

inline

Definition at line 111 of file joint-model-base.hpp.

template<typename Derived>

JointIndex pinocchio::JointModelBase< Derived >::id_impl ( ) const

inline

Definition at line 115 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_q ( ) const

inline

Definition at line 109 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_q_impl ( ) const

inline

Definition at line 113 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_v ( ) const

inline

Definition at line 110 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::idx_v_impl ( ) const

inline

Definition at line 114 of file joint-model-base.hpp.

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::isEqual ( const JointModelBase< OtherDerived > & ) const

inline

Definition at line 158 of file joint-model-base.hpp.

template<typename Derived>

bool pinocchio::JointModelBase< Derived >::isEqual ( const JointModelBase< Derived > & other ) const

inline

Definition at line 161 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointBlock ( const Eigen::MatrixBase< D > & Mat ) const

inline

Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

Definition at line 270 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::Type pinocchio::JointModelBase< Derived >::jointBlock ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 281 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointBlock_impl ( const Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 275 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template BlockReturn<D>::Type pinocchio::JointModelBase< Derived >::jointBlock_impl ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 286 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointCols ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 224 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointCols ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 235 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointCols_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 229 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template ColsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointCols_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 240 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointConfigSelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 178 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointConfigSelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 189 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointConfigSelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 183 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NQ>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointConfigSelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 194 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointRows ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 247 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointRows ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 258 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointRows_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 252 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template RowsReturn<D>::Type pinocchio::JointModelBase< Derived >::jointRows_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 263 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointVelocitySelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 201 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointVelocitySelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 212 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::ConstType pinocchio::JointModelBase< Derived >::jointVelocitySelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 206 of file joint-model-base.hpp.

template<typename Derived>

template<typename D >

SizeDepType<NV>::template SegmentReturn<D>::Type pinocchio::JointModelBase< Derived >::jointVelocitySelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 217 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nq ( ) const

inline

Definition at line 103 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nq_impl ( ) const

inline

Definition at line 107 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nv ( ) const

inline

Definition at line 102 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::nv_impl ( ) const

inline

Definition at line 106 of file joint-model-base.hpp.

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::operator!= ( const JointModelBase< OtherDerived > & other ) const

inline

Definition at line 154 of file joint-model-base.hpp.

template<typename Derived>

JointModelBase& pinocchio::JointModelBase< Derived >::operator= ( const JointModelBase< Derived > & clone )

inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 308 of file joint-model-base.hpp.

template<typename Derived>

template<class OtherDerived >

bool pinocchio::JointModelBase< Derived >::operator== ( const JointModelBase< OtherDerived > & other ) const

inline

Definition at line 150 of file joint-model-base.hpp.

template<typename Derived>

pinocchio::JointModelBase< Derived >::PINOCCHIO_JOINT_TYPEDEF_TEMPLATE ( JointDerived )

template<typename Derived>

void pinocchio::JointModelBase< Derived >::setIndexes	(	JointIndex	id,
		int	q,
		int	v
	)

inline

Definition at line 117 of file joint-model-base.hpp.

template<typename Derived>

void pinocchio::JointModelBase< Derived >::setIndexes_impl	(	JointIndex	id,
		int	q,
		int	v
	)

inline

Definition at line 120 of file joint-model-base.hpp.

template<typename Derived>

std::string pinocchio::JointModelBase< Derived >::shortname ( ) const

inline

Definition at line 142 of file joint-model-base.hpp.

Friends And Related Function Documentation

template<typename Derived>

std::ostream& operator<<	(	std::ostream &	os,
		const JointModelBase< Derived > &	joint
	)

friend

Definition at line 136 of file joint-model-base.hpp.

Member Data Documentation

template<typename Derived>

JointIndex pinocchio::JointModelBase< Derived >::i_id

protected

Definition at line 317 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::i_q

protected

Definition at line 318 of file joint-model-base.hpp.

template<typename Derived>

int pinocchio::JointModelBase< Derived >::i_v

protected

Definition at line 319 of file joint-model-base.hpp.

template<typename Derived>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits<Derived>::JointDerived pinocchio::JointModelBase< Derived >::JointDerived

Definition at line 71 of file joint-model-base.hpp.

The documentation for this struct was generated from the following file:

joint-model-base.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename Derived> struct pinocchio::JointModelBase< Derived >

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename Derived>
struct pinocchio::JointModelBase< Derived >