Template Struct JointImpulseVelocityDerivativesBackwardStep3D

Inheritance Relationships

Base Type

  • public pinocchio::fusion::JointUnaryVisitorBase< JointImpulseVelocityDerivativesBackwardStep3D< Scalar, Options, JointCollectionTpl, Matrix3xOut1, Matrix3xOut2 > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2>
struct JointImpulseVelocityDerivativesBackwardStep3D : public pinocchio::fusion::JointUnaryVisitorBase<JointImpulseVelocityDerivativesBackwardStep3D<Scalar, Options, JointCollectionTpl, Matrix3xOut1, Matrix3xOut2>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, Data&, const typename Model::JointIndex&, const SE3Tpl<Scalar>&, const ReferenceFrame&, const Scalar&, Matrix3xOut1&, Matrix3xOut2&> ArgsType

Public Static Functions

template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, Data &data, const typename Model::JointIndex &joint_id, const SE3Tpl<Scalar> &placement, const ReferenceFrame &rf, const Scalar &r_coeff, const Eigen::MatrixBase<Matrix3xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix3xOut2> &v_partial_dv)