Struct JointMotionSubspaceSphericalZYXTpl::ConstraintTranspose
Defined in File joint-spherical-ZYX.hpp
Nested Relationships
This struct is a nested type of Template Struct JointMotionSubspaceSphericalZYXTpl.
Inheritance Relationships
Base Type
public pinocchio::JointMotionSubspaceTransposeBase< JointMotionSubspaceSphericalZYXTpl >
(Template Struct JointMotionSubspaceTransposeBase)
Struct Documentation
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struct ConstraintTranspose : public pinocchio::JointMotionSubspaceTransposeBase<JointMotionSubspaceSphericalZYXTpl>
Public Functions
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inline ConstraintTranspose(const JointMotionSubspaceSphericalZYXTpl &ref)
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template<typename Derived>
inline const MatrixMatrixProduct<Eigen::Transpose<constMatrix3>, Eigen::Block<consttypenameForceDense<Derived>::Vector6, 3, 1>>::type operator*(const ForceDense<Derived> &phi) const
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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
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const JointMotionSubspaceSphericalZYXTpl &ref
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inline ConstraintTranspose(const JointMotionSubspaceSphericalZYXTpl &ref)