Template Struct JointImpulseVelocityDerivativesBackwardStep6D
Defined in File impulse-dynamics-derivatives.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< JointImpulseVelocityDerivativesBackwardStep6D< Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2 > >
(Template Struct JointUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
struct JointImpulseVelocityDerivativesBackwardStep6D : public pinocchio::fusion::JointUnaryVisitorBase<JointImpulseVelocityDerivativesBackwardStep6D<Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2>> Public Types
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
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typedef boost::fusion::vector<const Model&, Data&, const typename Model::JointIndex&, const SE3Tpl<Scalar>&, const ReferenceFrame&, const Scalar&, Matrix6xOut1&, Matrix6xOut2&> ArgsType
Public Static Functions
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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<Matrix6xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix6xOut2> &v_partial_dv)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model