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6 #ifndef __pinocchio_multibody_joint_data_base_hpp__
7 #define __pinocchio_multibody_joint_data_base_hpp__
12 #define PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, TYPENAME) \
13 PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint, TYPENAME); \
14 typedef TYPENAME traits<Joint>::ConfigVectorTypeConstRef ConfigVectorTypeConstRef; \
15 typedef TYPENAME traits<Joint>::ConfigVectorTypeRef ConfigVectorTypeRef; \
16 typedef TYPENAME traits<Joint>::TangentVectorTypeConstRef TangentVectorTypeConstRef; \
17 typedef TYPENAME traits<Joint>::TangentVectorTypeRef TangentVectorTypeRef; \
18 typedef TYPENAME traits<Joint>::ConstraintTypeConstRef ConstraintTypeConstRef; \
19 typedef TYPENAME traits<Joint>::ConstraintTypeRef ConstraintTypeRef; \
20 typedef TYPENAME traits<Joint>::TansformTypeConstRef TansformTypeConstRef; \
21 typedef TYPENAME traits<Joint>::TansformTypeRef TansformTypeRef; \
22 typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef; \
23 typedef TYPENAME traits<Joint>::MotionTypeRef MotionTypeRef; \
24 typedef TYPENAME traits<Joint>::BiasTypeConstRef BiasTypeConstRef; \
25 typedef TYPENAME traits<Joint>::BiasTypeRef BiasTypeRef; \
26 typedef TYPENAME traits<Joint>::UTypeConstRef UTypeConstRef; \
27 typedef TYPENAME traits<Joint>::UTypeRef UTypeRef; \
28 typedef TYPENAME traits<Joint>::DTypeConstRef DTypeConstRef; \
29 typedef TYPENAME traits<Joint>::DTypeRef DTypeRef; \
30 typedef TYPENAME traits<Joint>::UDTypeConstRef UDTypeConstRef; \
31 typedef TYPENAME traits<Joint>::UDTypeRef UDTypeRef
35 #define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) \
36 PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, PINOCCHIO_EMPTY_ARG)
37 #define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) \
38 PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename)
40 #elif (__GNUC__ == 4) && (__GNUC_MINOR__ == 4) && (__GNUC_PATCHLEVEL__ == 2)
42 #define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) \
43 PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, PINOCCHIO_EMPTY_ARG)
44 #define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) \
45 PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename)
49 #define PINOCCHIO_JOINT_DATA_TYPEDEF(Joint) PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename)
50 #define PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(Joint) \
51 PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint, typename)
55 #define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR \
56 ConfigVectorTypeConstRef joint_q_accessor() const \
60 ConfigVectorTypeRef joint_q_accessor() \
64 TangentVectorTypeConstRef joint_v_accessor() const \
68 TangentVectorTypeRef joint_v_accessor() \
72 ConstraintTypeConstRef S_accessor() const \
76 ConstraintTypeRef S_accessor() \
80 TansformTypeConstRef M_accessor() const \
84 TansformTypeRef M_accessor() \
88 MotionTypeConstRef v_accessor() const \
92 MotionTypeRef v_accessor() \
96 BiasTypeConstRef c_accessor() const \
100 BiasTypeRef c_accessor() \
104 UTypeConstRef U_accessor() const \
108 UTypeRef U_accessor() \
112 DTypeConstRef Dinv_accessor() const \
116 DTypeRef Dinv_accessor() \
120 UDTypeConstRef UDinv_accessor() const \
124 UDTypeRef UDinv_accessor() \
128 DTypeConstRef StU_accessor() const \
132 DTypeRef StU_accessor() \
137 #define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE \
138 typedef const ConfigVector_t & ConfigVectorTypeConstRef; \
139 typedef ConfigVector_t & ConfigVectorTypeRef; \
140 typedef const TangentVector_t & TangentVectorTypeConstRef; \
141 typedef TangentVector_t & TangentVectorTypeRef; \
142 typedef const Constraint_t & ConstraintTypeConstRef; \
143 typedef Constraint_t & ConstraintTypeRef; \
144 typedef const Transformation_t & TansformTypeConstRef; \
145 typedef Transformation_t & TansformTypeRef; \
146 typedef const Motion_t & MotionTypeConstRef; \
147 typedef Motion_t & MotionTypeRef; \
148 typedef const Bias_t & BiasTypeConstRef; \
149 typedef Bias_t & BiasTypeRef; \
150 typedef const U_t & UTypeConstRef; \
151 typedef U_t & UTypeRef; \
152 typedef const D_t & DTypeConstRef; \
153 typedef D_t & DTypeRef; \
154 typedef const UD_t & UDTypeConstRef; \
155 typedef UD_t & UDTypeRef;
160 template<
typename Derived>
163 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
170 return *
static_cast<Derived *
>(
this);
174 return *
static_cast<const Derived *
>(
this);
179 return derived().joint_q_accessor();
183 return derived().joint_q_accessor();
188 return derived().joint_v_accessor();
192 return derived().joint_v_accessor();
195 ConstraintTypeConstRef
S()
const
199 ConstraintTypeRef
S()
203 TansformTypeConstRef
M()
const
211 MotionTypeConstRef
v()
const
219 BiasTypeConstRef
c()
const
228 UTypeConstRef
U()
const
238 return derived().Dinv_accessor();
242 return derived().Dinv_accessor();
246 return derived().UDinv_accessor();
250 return derived().UDinv_accessor();
254 return derived().StU_accessor();
258 return derived().StU_accessor();
267 return Derived::classname();
270 void disp(std::ostream & os)
const
282 template<
typename OtherDerived>
301 template<
typename OtherDerived>
329 #endif // ifndef __pinocchio_multibody_joint_data_base_hpp__
MotionTypeConstRef v() const
bool isEqual(const JointDataBase< Derived > &other) const
 
TangentVectorTypeRef joint_v()
JointDataBase()
Default constructor: protected.
TansformTypeConstRef M() const
friend std::ostream & operator<<(std::ostream &os, const JointDataBase< Derived > &joint)
static std::string classname()
ConfigVectorTypeRef joint_q()
PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived)
ConstraintTypeConstRef S() const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::JointDerived JointDerived
DTypeConstRef StU() const
DTypeConstRef Dinv() const
bool operator!=(const JointDataBase< Derived > &other) const
bool isEqual(const JointDataBase< OtherDerived > &) const
 
bool operator==(const JointDataBase< OtherDerived > &other) const
bool comparison_eq(const LhsType &lhs_value, const RhsType &rhs_value)
ConfigVectorTypeConstRef joint_q() const
void disp(std::ostream &os) const
UDTypeConstRef UDinv() const
Common traits structure to fully define base classes for CRTP.
TangentVectorTypeConstRef joint_v() const
bool isNotEqual(const JointDataBase< Derived > &other) const
 
BiasTypeConstRef c() const
std::string shortname() const
const Derived & derived() const
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:10