Template Struct JointMotionSubspaceTpl

Defined in File joint-motion-subspace-generic.hpp

Nested Relationships

Nested Types

Struct JointMotionSubspaceTpl::Transpose

Inheritance Relationships

Base Type

public pinocchio::JointMotionSubspaceBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > > (Template Class JointMotionSubspaceBase)

Struct Documentation

template<int _Dim, typename _Scalar, int _Options, int _MaxDim> struct JointMotionSubspaceTpl : public pinocchio::JointMotionSubspaceBase<JointMotionSubspaceTpl<_Dim, _Scalar, _Options, _MaxDim>>

Public Types

Values:

enumerator NV

Public Functions

template<typename D> inline explicit JointMotionSubspaceTpl(const Eigen::MatrixBase<D> &_S)

inline JointMotionSubspaceTpl()

inline explicit JointMotionSubspaceTpl(const int dim)

template<int D, int MD> inline explicit JointMotionSubspaceTpl(const JointMotionSubspaceTpl<D, _Scalar, _Options, MD> subspace)

template<typename VectorLike> inline JointMotion __mult__(const Eigen::MatrixBase<VectorLike> &vj) const

inline Transpose transpose() const

inline MatrixReturnType matrix_impl()

inline ConstMatrixReturnType matrix_impl() const

inline int nv_impl() const

inline DenseBase se3Action(const SE3Tpl<Scalar, Options> &m) const

inline DenseBase se3ActionInverse(const SE3Tpl<Scalar, Options> &m) const

template<typename MotionDerived> inline DenseBase motionAction(const MotionDense<MotionDerived> &v) const

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

inline bool isEqual(const JointMotionSubspaceTpl &other) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef JointMotionSubspaceBase< JointMotionSubspaceTpl > Base

Public Static Functions

static inline JointMotionSubspaceTpl Zero(const int dim)

Public Static Attributes

static int MaxNV = NV < 0 ? _MaxDim : NV

Protected Attributes

DenseBase S

Friends

friend class JointMotionSubspaceBase< JointMotionSubspaceTpl >

template<typename S2, int O2> inline friend JointMotionSubspaceTpl<_Dim, _Scalar, _Options, _MaxDim>::DenseBase operator*(const InertiaTpl<S2, O2> &Y, const JointMotionSubspaceTpl &S)

template<typename S2, int O2> inline friend Eigen::Matrix<_Scalar, 6, _Dim, _Options, 6, _MaxDim> operator*(const Eigen::Matrix<S2, 6, 6, O2> &Ymatrix, const JointMotionSubspaceTpl &S)

struct Transpose : public pinocchio::JointMotionSubspaceTransposeBase<JointMotionSubspaceTpl>

Public Functions

inline Transpose(const JointMotionSubspaceTpl &ref)

template<typename ForceDerived> inline ConstraintForceOp<JointMotionSubspaceTpl, ForceDerived>::ReturnType operator*(const ForceDense<ForceDerived> &f) const

template<typename ForceSet> inline ConstraintForceSetOp<JointMotionSubspaceTpl, ForceSet>::ReturnType operator*(const Eigen::MatrixBase<ForceSet> &F)

Public Members

const JointMotionSubspaceTpl &ref