Struct JointMotionSubspaceSphericalZYXTpl::ConstraintTranspose

Nested Relationships

This struct is a nested type of Template Struct JointMotionSubspaceSphericalZYXTpl.

Inheritance Relationships

Base Type

Struct Documentation

struct ConstraintTranspose : public pinocchio::JointMotionSubspaceTransposeBase<JointMotionSubspaceSphericalZYXTpl>

Public Functions

inline ConstraintTranspose(const JointMotionSubspaceSphericalZYXTpl &ref)
template<typename Derived>
inline const MatrixMatrixProduct<Eigen::Transpose<constMatrix3>, Eigen::Block<consttypenameForceDense<Derived>::Vector6, 3, 1>>::type operator*(const ForceDense<Derived> &phi) const
template<typename D>
inline const MatrixMatrixProduct<typenameEigen::Transpose<constMatrix3>, typenameEigen::MatrixBase<constD>::templateNRowsBlockXpr<3>::Type>::type operator*(const Eigen::MatrixBase<D> &F) const

Public Members

const JointMotionSubspaceSphericalZYXTpl &ref