Template Struct JointModelMimicTpl

Defined in File joint-mimic.hpp

Inheritance Relationships

Base Type

public pinocchio::JointModelBase< JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl > > (Template Struct JointModelBase)

Struct Documentation

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

Public Types

Values:

enumerator MaxNVMimicked

typedef JointMimicTpl<_Scalar, _Options, JointCollectionTpl> JointDerived

typedef JointCollectionTpl<Scalar, Options> JointCollection

typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel

typedef SE3Tpl<Scalar, Options> SE3

typedef MotionTpl<Scalar, Options> Motion

typedef InertiaTpl<Scalar, Options> Inertia

Public Functions

PINOCCHIO_JOINT_TYPEDEF_TEMPLATE(JointDerived)

inline JointModelMimicTpl()

template<typename JointModel> inline JointModelMimicTpl(const JointModelBase<JointModel> &jmodel, const Scalar &scaling, const Scalar &offset)

template<typename JointModelMimicking, typename JointModelMimicked> inline JointModelMimicTpl(const JointModelBase<JointModelMimicking> &jmodel_mimicking, const JointModelBase<JointModelMimicked> &jmodel_mimicked, const Scalar &scaling, const Scalar &offset)

inline Base &base()

inline const Base &base() const

inline int nq_impl() const

inline int nv_impl() const

inline int nvExtended_impl() const

inline void setIndexes_impl(JointIndex id, int, int, int vExtended): Note

q and v are ignored in the _impl for mimic joint because most algorithms will pass indexes of their current position in the tree, while in this case idx_q and idx_v should remain pointing to the mimicked joint. (See setMimicIndexes)

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

Specific way for mimic joints to set the mimicked q,v indexes. Used for manipulating tree (e.g. appendModel).

Parameters:

id – Set the mimicking joint id
q – Set the mimic joint idx_q (should point to the mimicked joint)
v – Set the mimic joint idx_v (should point to the mimicked joint)
vExtended – Set the mimicking idx_vExtended

inline JointDataDerived createData() const

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

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

template<typename ConfigVector> inline PINOCCHIO_DONT_INLINE void calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs) const

template<typename ConfigVector, typename TangentVector> inline PINOCCHIO_DONT_INLINE void calc (JointDataDerived &jdata, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const

template<typename VectorLike, typename Matrix6Like> inline void calc_aba(JointDataDerived&, const Eigen::MatrixBase<VectorLike>&, const Eigen::MatrixBase<Matrix6Like>&, const bool) const

inline std::string shortname() const

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

Returns:: An expression of *this with the Scalar type casted to NewScalar.

inline const JointModel &jmodel() const

inline JointModel &jmodel()

inline const Scalar &scaling() const

inline Scalar &scaling()

inline const Scalar &offset() const

inline Scalar &offset()

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_impl(Eigen::MatrixBase<D> &a) const

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

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

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

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

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

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointModelBase< JointModelMimicTpl > Base

Public Static Functions

static inline std::string classname()

Protected Attributes

JointModel m_jmodel_mimicking

Scalar m_scaling

Scalar m_offset

int m_nqExtended

int m_nvExtended