Template Struct JointModelBase

Defined in File joint-model-base.hpp

Inheritance Relationships

Base Type

public pinocchio::NumericalBase< Derived > (Template Struct NumericalBase)

Derived Types

public pinocchio::JointModelCompositeTpl< Scalar > (Template Struct JointModelCompositeTpl)
public pinocchio::JointModelCompositeTpl< context::Scalar > (Template Struct JointModelCompositeTpl)
public pinocchio::JointModelCompositeTpl< Scalar, Options, ::pinocchio::JointCollectionDefaultTpl > (Template Struct JointModelCompositeTpl)
public pinocchio::JointModelCompositeTpl< Scalar, Options, JointCollectionTpl > (Template Struct JointModelCompositeTpl)
public pinocchio::JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl > (Template Struct JointModelCompositeTpl)
public pinocchio::JointModelEllipsoidTpl< Scalar, Options > (Template Struct JointModelEllipsoidTpl)
public pinocchio::JointModelEllipsoidTpl< context::Scalar > (Template Struct JointModelEllipsoidTpl)
public pinocchio::JointModelFreeFlyerTpl< Scalar > (Template Struct JointModelFreeFlyerTpl)
public pinocchio::JointModelFreeFlyerTpl< context::Scalar > (Template Struct JointModelFreeFlyerTpl)
public pinocchio::JointModelFreeFlyerTpl< Scalar, Options > (Template Struct JointModelFreeFlyerTpl)
public pinocchio::JointModelHelicalTpl< Scalar, Options, 0 > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalTpl< Scalar, Options, 1 > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalTpl< Scalar, Options, 2 > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalTpl< Scalar, Options, axis > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalTpl< NewScalar, Options, axis > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalTpl< context::Scalar, context::Options, 0 > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalTpl< context::Scalar, context::Options, 1 > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalTpl< context::Scalar, context::Options, 2 > (Template Struct JointModelHelicalTpl)
public pinocchio::JointModelHelicalUnalignedTpl< Scalar > (Template Struct JointModelHelicalUnalignedTpl)
public pinocchio::JointModelHelicalUnalignedTpl< context::Scalar > (Template Struct JointModelHelicalUnalignedTpl)
public pinocchio::JointModelHelicalUnalignedTpl< Scalar, Options > (Template Struct JointModelHelicalUnalignedTpl)
public pinocchio::JointModelMimicTpl< Scalar > (Template Struct JointModelMimicTpl)
public pinocchio::JointModelMimicTpl< context::Scalar > (Template Struct JointModelMimicTpl)
public pinocchio::JointModelMimicTpl< Scalar, Options, ::pinocchio::JointCollectionDefaultTpl > (Template Struct JointModelMimicTpl)
public pinocchio::JointModelMimicTpl< Scalar, Options, JointCollectionTpl > (Template Struct JointModelMimicTpl)
public pinocchio::JointModelMimicTpl< NewScalar, Options, JointCollectionTpl > (Template Struct JointModelMimicTpl)
public pinocchio::JointModelPlanarTpl< Scalar > (Template Struct JointModelPlanarTpl)
public pinocchio::JointModelPlanarTpl< context::Scalar > (Template Struct JointModelPlanarTpl)
public pinocchio::JointModelPlanarTpl< Scalar, Options > (Template Struct JointModelPlanarTpl)
public pinocchio::JointModelPrismaticTpl< Scalar, Options, 0 > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticTpl< Scalar, Options, 1 > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticTpl< Scalar, Options, 2 > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticTpl< Scalar, Options, axis > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticTpl< NewScalar, Options, axis > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticTpl< context::Scalar, context::Options, 0 > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticTpl< context::Scalar, context::Options, 1 > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticTpl< context::Scalar, context::Options, 2 > (Template Struct JointModelPrismaticTpl)
public pinocchio::JointModelPrismaticUnalignedTpl< Scalar > (Template Struct JointModelPrismaticUnalignedTpl)
public pinocchio::JointModelPrismaticUnalignedTpl< context::Scalar > (Template Struct JointModelPrismaticUnalignedTpl)
public pinocchio::JointModelPrismaticUnalignedTpl< Scalar, Options > (Template Struct JointModelPrismaticUnalignedTpl)
public pinocchio::JointModelRevoluteTpl< Scalar, Options, 0 > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteTpl< Scalar, Options, 1 > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteTpl< Scalar, Options, 2 > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteTpl< Scalar, Options, axis > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteTpl< NewScalar, Options, axis > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteTpl< context::Scalar, context::Options, 0 > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteTpl< context::Scalar, context::Options, 1 > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteTpl< context::Scalar, context::Options, 2 > (Template Struct JointModelRevoluteTpl)
public pinocchio::JointModelRevoluteUnalignedTpl< Scalar > (Template Struct JointModelRevoluteUnalignedTpl)
public pinocchio::JointModelRevoluteUnalignedTpl< context::Scalar > (Template Struct JointModelRevoluteUnalignedTpl)
public pinocchio::JointModelRevoluteUnalignedTpl< Scalar, Options > (Template Struct JointModelRevoluteUnalignedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 0 > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 1 > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, 2 > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< Scalar, Options, axis > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< NewScalar, Options, axis > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 0 > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 1 > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 2 > (Template Struct JointModelRevoluteUnboundedTpl)
public pinocchio::JointModelRevoluteUnboundedUnalignedTpl< Scalar > (Template Struct JointModelRevoluteUnboundedUnalignedTpl)
public pinocchio::JointModelRevoluteUnboundedUnalignedTpl< context::Scalar > (Template Struct JointModelRevoluteUnboundedUnalignedTpl)
public pinocchio::JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > (Template Struct JointModelRevoluteUnboundedUnalignedTpl)
public pinocchio::JointModelSphericalTpl< Scalar > (Template Struct JointModelSphericalTpl)
public pinocchio::JointModelSphericalTpl< context::Scalar > (Template Struct JointModelSphericalTpl)
public pinocchio::JointModelSphericalTpl< Scalar, Options > (Template Struct JointModelSphericalTpl)
public pinocchio::JointModelSphericalZYXTpl< Scalar > (Template Struct JointModelSphericalZYXTpl)
public pinocchio::JointModelSphericalZYXTpl< context::Scalar > (Template Struct JointModelSphericalZYXTpl)
public pinocchio::JointModelSphericalZYXTpl< Scalar, Options > (Template Struct JointModelSphericalZYXTpl)
public pinocchio::JointModelTpl< Scalar, Options > (Template Struct JointModelTpl)
public pinocchio::JointModelTpl< Scalar, Options, JointCollectionTpl > (Template Struct JointModelTpl)
public pinocchio::JointModelTpl< context::Scalar > (Template Struct JointModelTpl)
public pinocchio::JointModelTpl< NewScalar, Options, JointCollectionTpl > (Template Struct JointModelTpl)
public pinocchio::JointModelTranslationTpl< Scalar > (Template Struct JointModelTranslationTpl)
public pinocchio::JointModelTranslationTpl< context::Scalar > (Template Struct JointModelTranslationTpl)
public pinocchio::JointModelTranslationTpl< Scalar, Options > (Template Struct JointModelTranslationTpl)
public pinocchio::JointModelUniversalTpl< Scalar > (Template Struct JointModelUniversalTpl)
public pinocchio::JointModelUniversalTpl< context::Scalar > (Template Struct JointModelUniversalTpl)
public pinocchio::JointModelUniversalTpl< Scalar, Options > (Template Struct JointModelUniversalTpl)

Struct Documentation

template<typename Derived> struct JointModelBase : public pinocchio::NumericalBase<Derived>

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

inline JointModelDerived &derived()

inline const JointModelDerived &derived() const

inline JointDataDerived createData() const

inline const std::vector<bool> hasConfigurationLimit() const

inline const std::vector<bool> hasConfigurationLimitInTangent() const

template<typename ConfigVectorType> inline void calc(JointDataDerived &data, const Eigen::MatrixBase<ConfigVectorType> &qs) const

template<typename TangentVectorType> inline void calc(JointDataDerived &data, const Blank not_used, const Eigen::MatrixBase<TangentVectorType> &vs) const

template<typename ConfigVectorType, typename TangentVectorType> inline void calc(JointDataDerived &data, const Eigen::MatrixBase<ConfigVectorType> &qs, const Eigen::MatrixBase<TangentVectorType> &vs) const

template<typename VectorLike, typename Matrix6Like> inline void calc_aba(JointDataDerived &data, const Eigen::MatrixBase<VectorLike> &armature, const Eigen::MatrixBase<Matrix6Like> &I, const bool update_I = false) const

inline int nv() const

inline int nq() const

inline int nvExtended() const

inline int nv_impl() const

inline int nq_impl() const

inline int nvExtended_impl() const

inline int idx_q() const

inline int idx_v() const

inline int idx_vExtended() const

inline JointIndex id() const

inline int idx_q_impl() const

inline int idx_v_impl() const

inline int idx_vExtended_impl() const

inline JointIndex id_impl() const

inline void setIndexes(JointIndex id, int q, int v)

inline void setIndexes(JointIndex id, int q, int v, int vExtended)

inline void setIndexes_impl(JointIndex id, int q, int v, int vExtended)

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

inline std::string shortname() const

template<typename NewScalar> inline CastType<NewScalar, Derived>::type cast() const

template<class OtherDerived> inline bool operator==(const JointModelBase<OtherDerived> &other) const

template<class OtherDerived> inline bool operator!=(const JointModelBase<OtherDerived> &other) const

template<class OtherDerived> inline bool isEqual(const JointModelBase<OtherDerived>&) const

inline bool isEqual(const JointModelBase<Derived> &other) const

template<class OtherDerived> inline bool hasSameIndexes(const JointModelBase<OtherDerived> &other) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::ConstType JointMappedConfigSelector(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::ConstType JointMappedConfigSelector_impl(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::Type JointMappedConfigSelector(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::Type JointMappedConfigSelector_impl(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::ConstType jointConfigSelector(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::ConstType jointConfigSelector_impl(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::Type jointConfigSelector(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NQ>::template SegmentReturn<D>::Type jointConfigSelector_impl(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::ConstType JointMappedVelocitySelector(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::ConstType JointMappedVelocitySelector_impl(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::Type JointMappedVelocitySelector(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::Type JointMappedVelocitySelector_impl(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::ConstType jointVelocitySelector(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::ConstType jointVelocitySelector_impl(const Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::Type jointVelocitySelector(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template SegmentReturn<D>::Type jointVelocitySelector_impl(Eigen::MatrixBase<D> &a) const

template<typename D> inline SizeDepType<NV>::template ColsReturn<D>::ConstType jointCols(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template ColsReturn<D>::ConstType jointExtendedModelCols(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template ColsReturn<D>::ConstType jointCols_impl(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template ColsReturn<D>::ConstType jointExtendedModelCols_impl(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template ColsReturn<D>::Type jointCols(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template ColsReturn<D>::Type jointExtendedModelCols(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template ColsReturn<D>::Type jointCols_impl(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template ColsReturn<D>::Type jointExtendedModelCols_impl(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template RowsReturn<D>::ConstType jointRows(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template RowsReturn<D>::ConstType jointExtendedModelRows(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template RowsReturn<D>::ConstType jointRows_impl(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template RowsReturn<D>::ConstType jointExtendedModelRows_impl(const Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template RowsReturn<D>::Type jointRows(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template RowsReturn<D>::Type jointExtendedModelRows(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template RowsReturn<D>::Type jointRows_impl(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NVExtended>::template RowsReturn<D>::Type jointExtendedModelRows_impl(Eigen::MatrixBase<D> &A) const

template<typename D> inline SizeDepType<NV>::template BlockReturn<D>::ConstType jointBlock(const Eigen::MatrixBase<D> &Mat) const: Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

template<typename D> inline SizeDepType<NVExtended>::template BlockReturn<D>::ConstType jointExtendedModelBlock(const Eigen::MatrixBase<D> &Mat) const

template<typename D> inline SizeDepType<NV>::template BlockReturn<D>::ConstType jointBlock_impl(const Eigen::MatrixBase<D> &Mat) const

template<typename D> inline SizeDepType<NVExtended>::template BlockReturn<D>::ConstType jointExtendedModelBlock_impl(const Eigen::MatrixBase<D> &Mat) const

template<typename D> inline SizeDepType<NV>::template BlockReturn<D>::Type jointBlock(Eigen::MatrixBase<D> &Mat) const

template<typename D> inline SizeDepType<NVExtended>::template BlockReturn<D>::Type jointExtendedModelBlock(Eigen::MatrixBase<D> &Mat) const

template<typename D> inline SizeDepType<NV>::template BlockReturn<D>::Type jointBlock_impl(Eigen::MatrixBase<D> &Mat) const

template<typename D> inline SizeDepType<NVExtended>::template BlockReturn<D>::Type jointExtendedModelBlock_impl(Eigen::MatrixBase<D> &Mat) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::JointDerived JointDerived

Public Static Functions

static inline std::string classname()

Protected Functions

inline JointModelBase()

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

inline JointModelBase(const JointModelBase &clone)

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

inline JointModelBase &operator=(const JointModelBase &clone)

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Protected Attributes

JointIndex i_id

int i_q

int i_v

int i_vExtended

Friends

inline friend std::ostream &operator<<(std::ostream &os, const JointModelBase<Derived> &jmodel)