Template Struct JointDataMimicTpl

Defined in File joint-mimic.hpp

Inheritance Relationships

Base Type

public pinocchio::JointDataBase< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > > (Template Struct JointDataBase)

Struct Documentation

template<typename _Scalar, int _Options, template<typename S, int O> class JointCollectionTpl> struct JointDataMimicTpl : public pinocchio::JointDataBase<JointDataMimicTpl<_Scalar, _Options, JointCollectionTpl>>

Public Types

typedef JointMimicTpl<_Scalar, _Options, JointCollectionTpl> JointDerived

typedef JointDataTpl<_Scalar, _Options, JointCollectionTpl> RefJointData

typedef RefJointData::JointDataVariant RefJointDataVariant

Public Functions

PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE(JointDerived)

inline JointDataMimicTpl()

inline JointDataMimicTpl(const RefJointData &jdata, const Scalar &scaling, const int &nq, const int &nv)

inline JointDataMimicTpl(const JointDataMimicTpl &other)

inline JointDataMimicTpl &operator=(const JointDataMimicTpl &other)

inline bool isEqual(const JointDataMimicTpl &other) const

inline std::string shortname() const

inline ConstraintTypeConstRef S_accessor() const

inline ConstraintTypeRef S_accessor()

inline Transformation_t M_accessor() const

inline Motion_t v_accessor() const

inline Bias_t c_accessor() const

inline U_t U_accessor() const

inline D_t Dinv_accessor() const

inline UD_t UDinv_accessor() const

inline D_t StU_accessor() const

inline const RefJointData &jdata() const

inline RefJointData &jdata()

inline ConfigVectorTypeRef joint_q_accessor()

inline ConfigVectorTypeConstRef joint_q_accessor() const

inline ConfigVector_t &q_transformed()

inline const ConfigVector_t &q_transformed() const

inline TangentVectorTypeRef joint_v_accessor()

inline TangentVectorTypeConstRef joint_v_accessor() const

inline TangentVector_t &v_transformed()

inline const TangentVector_t &v_transformed() const

inline void disp(std::ostream &os) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointDataBase< JointDataMimicTpl > Base

RefJointData m_jdata_mimicking

ConfigVector_t joint_q: original configuration vector

ConfigVector_t joint_q_transformed: Transformed configuration vector.

TangentVector_t joint_v: original velocity vector

TangentVector_t joint_v_transformed: Transform velocity vector.

Constraint_t S

Public Static Functions

static inline std::string classname()

Friends

friend struct JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >