Partial specialization for CppAD::AGtypes. More...
#include <aba.hpp>
Public Types | |
typedef CppAD::AD< _Scalar > | Scalar |
Public Member Functions | |
SE3::ActionMatrixType | action_matrix (M.toActionMatrixInverse()) |
SE3::ActionMatrixType | dual_action_matrix (M.toDualActionMatrix()) |
typedef | PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix6Type) ReturnType |
Static Public Member Functions | |
template<int Options, typename Matrix6Type > | |
static | PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix6Type) run(const SE3Tpl< Scalar |
Public Attributes | |
static Options const Eigen::MatrixBase< Matrix6Type > & | I |
ReturnType | intermediate_result = dual_action_matrix * I |
static Options & | M |
ReturnType | res = intermediate_result * action_matrix |
return | res |
Partial specialization for CppAD::AGtypes.
Definition at line 19 of file autodiff/cppad/algorithm/aba.hpp.
typedef CppAD::AD<_Scalar> pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::Scalar |
Definition at line 21 of file autodiff/cppad/algorithm/aba.hpp.
SE3::ActionMatrixType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::action_matrix | ( | M. | toActionMatrixInverse() | ) |
SE3::ActionMatrixType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::dual_action_matrix | ( | M. | toDualActionMatrix() | ) |
typedef pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::PINOCCHIO_EIGEN_PLAIN_TYPE | ( | Matrix6Type | ) |
|
static |
Options const Eigen::MatrixBase<Matrix6Type>& pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::I |
Definition at line 26 of file autodiff/cppad/algorithm/aba.hpp.
ReturnType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::intermediate_result = dual_action_matrix * I |
Definition at line 33 of file autodiff/cppad/algorithm/aba.hpp.
Options& pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::M |
Definition at line 25 of file autodiff/cppad/algorithm/aba.hpp.
ReturnType pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::res = intermediate_result * action_matrix |
Definition at line 34 of file autodiff/cppad/algorithm/aba.hpp.
return pinocchio::internal::SE3actOn< CppAD::AD< _Scalar > >::res |
Definition at line 35 of file autodiff/cppad/algorithm/aba.hpp.