Template Struct JointMotionSubspaceHelicalTpl
Defined in File joint-helical.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public pinocchio::JointMotionSubspaceBase< JointMotionSubspaceHelicalTpl< _Scalar, _Options, axis > >
(Template Class JointMotionSubspaceBase)
Struct Documentation
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template<typename _Scalar, int _Options, int axis>
struct JointMotionSubspaceHelicalTpl : public pinocchio::JointMotionSubspaceBase<JointMotionSubspaceHelicalTpl<_Scalar, _Options, axis>> Public Types
Values:
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enumerator NV
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enumerator NV
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typedef SpatialAxis<ANGULAR + axis> AxisAngular
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typedef SpatialAxis<ANGULAR + axis> AxisLinear
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typedef AxisAngular::CartesianAxis3 CartesianAxis3Angular
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typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear
Public Functions
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inline JointMotionSubspaceHelicalTpl()
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inline JointMotionSubspaceHelicalTpl(const Scalar &h)
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template<typename Vector1Like>
inline JointMotion __mult__(const Eigen::MatrixBase<Vector1Like> &v) const
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template<typename S1, int O1>
inline SE3GroupAction<JointMotionSubspaceHelicalTpl>::ReturnType se3Action(const SE3Tpl<S1, O1> &m) const
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template<typename S1, int O1>
inline SE3GroupAction<JointMotionSubspaceHelicalTpl>::ReturnType se3ActionInverse(const SE3Tpl<S1, O1> &m) const
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inline int nv_impl() const
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inline TransposeConst transpose() const
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inline DenseBase matrix_impl() const
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template<typename MotionDerived>
inline MotionAlgebraAction<JointMotionSubspaceHelicalTpl, MotionDerived>::ReturnType motionAction(const MotionDense<MotionDerived> &m) const
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inline bool isEqual(const JointMotionSubspaceHelicalTpl&) const
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inline Scalar &h()
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inline const Scalar &h() const
Protected Attributes
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Scalar m_pitch
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struct TransposeConst : public pinocchio::JointMotionSubspaceTransposeBase<JointMotionSubspaceHelicalTpl>
Public Functions
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inline TransposeConst(const JointMotionSubspaceHelicalTpl &ref)
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template<typename ForceDerived>
inline ConstraintForceOp<JointMotionSubspaceHelicalTpl, ForceDerived>::ReturnType operator*(const ForceDense<ForceDerived> &f) const
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template<typename Derived>
inline ConstraintForceSetOp<JointMotionSubspaceHelicalTpl, Derived>::ReturnType operator*(const Eigen::MatrixBase<Derived> &F) const [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)
Public Members
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const JointMotionSubspaceHelicalTpl &ref
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inline TransposeConst(const JointMotionSubspaceHelicalTpl &ref)